Incremental and Absolute Encoders

Transcription

1 by Incremental and Absolute Encoders

2 Kübler by TURCK Founded by Fritz Kübler in 1960 with the introduction of the patented KM1 timer meter, Fritz Kübler has expanded to become a global technology leader in the field of encoders. Located in the Black Forest of southern Germany, Kübler is family owned and managed with great pride in over 50 countries with a rapidly increasing staff dedicated to meet customer requirements quickly and reliably. Since its 1965 founding by Hans and Werner Turck in Halver Germany, TURCK has become a worldwide leader in inductive and capacitive proximity switches, ultrasonics, level detection, cordsets and connectivity products to automate manufacturing processes. With seven manufacturing facilities and 1400 employees worldwide, TURCK has excelled with a focused commitment to provide unsurpassed customer value. TURCK continues to uphold its commitment to unequaled customer value through an expanding and innovative product offering, global customer accessibility and application expertise. A1

3 For over 40 years you have put your trust in TURCK, a global market leader in sensor solutions for industrial automation. Fritz Kübler GmbH, is a world class manufacturer of high performance, leading edge encoder technology. Kübler and TURCK have partnered to form Kübler by TURCK as a product offering complementing our combined skills and attributes. Together, we now add the Kübler by TURCK incremental and absolute optical encoder product line to TURCK s extensive portfolio of over 30,000 sensor, connectivity and interface products. Whether it s incremental, absolute, hollowshaft, explosion proof, or tailor made specials, Kübler by TURCK has the solution. Our commitment to you: innovative and quality products for your toughest applications. A2

4 Kübler by TURCK Table of Contents: General Overview - Section A Optical Encoders A5 Pulse Rate and Discs A6 Outputs A7 - A9 Encoder Mounting A10 - A12 Speed, Shaft, Seals and Bearings A13 - A15 Temperature and Transients A15 Termination A16 Shielding / Ground Loops A16 Humidity, Kübler Plus A17 Approvals, Environmental Protection A18 NEMA Ratings A19 Formulas and Linear Measurement A20 Incremental Encoders - Section B Shaft and Hollowshaft Selection Guide B1 - B2 Input Voltages and Output Circuits B3 - B4 Absolute Encoders - Section C Shaft and Hollowshaft Selection Guide C1 - C2 Absolute Encoder - Single Turn and Multiturn C3 Resolution C4 Output Codes C5 - C6 Traditional Geared and Electronic Multiturn C6 New Electronic Programmable Multiturn C7 - C8 Outputs C9 - C10 Synchronous Serial Interface SSI C11 Cable Length, Integrated Technology C12 A3

5 BUS Systems - Section D BUS Systems D3 CANopen Uses D3 - D4 Profibus: General Information D5 - D6 Draw Wire Encoders - Section E Mini, Industrial and Long Length Selection Guide E1 - E2 Encoder Mating Cordsets - Section F M12 eurofast, M23 multifast and Military Selection Guide F2 Encoder Accessories - Section G Couplings G1 - G2 Servo Cleats G3 Flex Brackets G3 - G5 Torque Pin Supports G6 Torque Pins G7 Brackets G7 - G8 Top Hat / Assembly Bell G8 Mounting Flanges G9 - G11 Measuring Wheels G11 Bearing Box G12 Rack and Pinion G12 Counters G13 Demo and Programming Kits G14 Index and Warranty - Section H Table of Contents: A4

6 Kübler by TURCK General Overview Optical Encoders An optical encoder is a complex system which converts a mechanical rotary motion (angular position or speed) into a usable electrical signal. Each encoder optimizes the operating characteristics of three systems (mechanics, optics, and electronics). An encoder is a photoelectric emitter receiver pair looking through a slotted disk. The encoder operates on the Moiré Fringe principal of optics. Light from the LED passes through the disc, the mask, and into the photo transistors. The photo transistor outputs a sine wave which corresponds to the flashing light pulses from the LED. The sine wave is then converted to a square wave inside a custom ASIC. A5

7 Pulse rate or Pulses per Revolution is defined as the number of physical lines and corresponding spaces on the code disc. Kübler by TURCK currently manufactures code discs with up to 5000 lines. The Encoder can output up to 5000 pulses (PPR) in quadrature (two-channel, A & B). A pulse is equal to one complete 360 degree electrical (not mechanical) square wave from an encoder. Kübler by TURCK also offers an internally multiplied signal outputting up to 36,000 pulses (PPR) in quadrature (two-channel A&B). Pulse Rate Overview Discs The disc has lines and spaces equally spaced. The lines block light from the LEDs and the spaces allow light to pass through. Metal discs are manufactured using an etching process. The material (stainless steel) is physically removed from the slots. Metal is rugged, capable of high temperatures and lower in cost than glass. Typically, metal discs are used when pulse rates (PPR) are below PCB Board Sensor Disc Glass discs use a process where chrome is deposited on the glass substrate to provide the lines and spaces. Discs are between and thick. Discs must be very flat and run true on the shaft to prevent errors. Discs are typically attached to the shaft with epoxy and mechanical collars. In applications where high vibration and shock are present, we can improve the performance of glass discs through proprietary manufacturing processes applied to the disc blank. In this case, we can achieve up to 250 gs of shock. Mask LEDs A6

8 Kübler by TURCK General Overview Outputs Incremental encoders convert a sine wave from the opto electronics to a square wave inside the ASIC. The number of square waves correspond to the number of lines on the disc. The encoder can output the following: Single-ended A channel for uni-directional pulse counting and speed measurement. Dual channel or quadrature signals give count and direction information. The Kübler by TURCK standard: Channel A leads channel B when the encoder shaft is rotated clockwise (viewing the shaft end.) The two signals are in quadrature and have a duty cycle of 50%. Note: Direction may vary by manufacturer, for example: B leads A in the clockwise direction. Clockwise when viewing shaft end. Quadrature signals allow edge detection to be used for added resolution. Edge Detection Many controllers have the capability to count the leading and trailing edges of the encoder output. This will allow a resolution of four times the pulse count to be realized. A7

9 Dual channel with index pulse. The index pulse (Z) occurs once per revolution of the encoder shaft. The Kübler by TURCK standard: The index pulse is gated with A&B high. Other configurations can be specified. Outputs Overview Differential outputs are used to prevent pulse count errors in electrically noisy environments. For each encoder output channel A, B, and Z, a second channel A, B, and Z are added. These complementary channels are opposite in amplitude to A, B, and Z. Receiving electronics utilize a differential receiver which combines the complementary signals and cancels out any noise spikes. Noise occurs in one direction A8

10 Kübler by TURCK General Overview All Kübler by TURCK encoders come standard with six channels where A leads B in the clockwise direction and the standard index is gated with A & B. The tolerance of the wave form affects the control and in some cases may affect the smoothness of system operation. Wave Form Tolerances Output Signal Formats A leads B when the shaft is turned in the clockwise direction viewing the shaft or collet end. This is the Kübler by TURCK standard. This format applies to the pin key codes listed below. B leads A when the shaft is rotated in the clockwise direction viewing the shaft or collet end. This format applies to the pin key codes listed below: A leads B, Z gated with A & B. This is the Kübler by TURCK standard. Z is 90 wide. Code 01: A leads B, Z gated with B. Z is 180 wide. Code 04: B leads A, Z gated with A & B. Z is 90 wide. Code 05: B leads A, Z gated with B. Z is 180 wide. Code 02: A leads B, Z gated with A. Z is 180 wide Code 06: B leads A, Z gated with A. Z is 180 wide. Code 03: A leads B, Z ungated. Z is 330 to 360 wide. Code 08: A leads B. Code 07: B leads A, Z is ungated. Z is 330 to 360 wide. Code 09: B leads A, Z gated with B. Z is 180 wide. Code 13: A leads B, Z gated with B. Z is 180 wide. Code 11: A leads B, Z is a minimum with of 270 (electrical degrees). Code 10: B leads A, Z is a negative marker gated with B. Z is 180 wide. Code 12: B leads A. Z has a minimum width of 270. All index widths are in electrical degrees A9

11 Square Flange Shaft Encoder Mounting Overview Face Mount Top Hat Measuring Wheel Rack and Pinion (Linear) Servo Mount A10

12 Kübler by TURCK General Overview Shaft Encoder Mounting Heavy Duty Bearing Box (100 lbs. Radial Load) Clamping Flange Hollowshaft Encoder Mounting Hollowshafts Offer Significant Advantages Over Shaft Encoders Lower Envelope Size and Profile Better Alignment on the Shaft Better Performance and Accuracy Lower Parts Count Reduced Bearing Wear Higher Reliability Reduces Installation Labor Lower Installed Cost (save up to 15%) Why do this? When you can do this! A11

13 Hollowshaft Encoder Mounting Overview Hollowshaft with Tether Arm Hollowshaft with Anti-rotation Pin Hollowshaft with Extended Torque Arm and Anti-rotation Pin Axial Play Less than 0.5 mm (0.020 In.) Up to 2500 PPR A12

14 Kübler by TURCK General Overview Speed Limitations Mechanical / Frequency Response Typically the maximum mechanical speed is determined by the bearing system. In most cases, without a shaft seal or sealed bearings, Kübler by TURCK encoders are capable of operation up to 12,000 RPM. Please check data sheets for exact specifications. Encoders are also limited by their frequency response. This takes into consideration the speed of the optics and the electronics. All Kübler by TURCK encoders specify their maximum operating frequency. Output Frequency = Speed in RPM x Resolution in PPR 60 Shafts Encoder shafts are manufactured using 316 Stainless Steel with one flat on the shaft. The shafts are ground and have a shaft run-out specification of " TIR (Total Indicated Runout). Environmental Sealing Shaft seals are used for applications requiring NEMA 4 and 4X (IP 66 and IP 67). When using shaft seals, please allow for reduced mechanical speed, increased heat due to friction, reduced bearing loads due to bearing spacing and increased starting and running torque. See data sheets for operating speeds when using shaft seals. Bearings All Kübler by TURCK encoders are manufactured with high performance bearings procured from reliable, certified vendors. Bearing life is highly dependant on radial and axial loading, shaft mis-alignment, shaft runout, speed, acceleration, tolerance stack ups, location of the load, temperature, humidity and contaminants including dirt, dust, coolants, chemicals, etc. The radial bearing load is defined as the load applied to the side of the shaft. The radial load is calculated from the face of the encoder at 3000 RPM and +70 C (+158 F) in a laboratory environment. The axial load is defined as the force pushing or pulling on the end of the shaft. For applications requiring resolutions higher than 2500 PPR, the load rating should be reduced by 50%. Axial Load Radial Load measured 0.25" from encoder face A13

15 Bearings Overview A14

16 Kübler by TURCK General Overview Bearing Life The L10* bearing life at 10% rated load (model T8.5800) is greater than 49 x revolutions ( 100,000 Hours). The L10* bearing life at rated load is greater than 1 x 10 9 revolutions ( 7000 hours). Maximum Load Ratings Encoder Model *5800 Bearing Box Axial Load 4 lbs. 7 lbs. 10 lbs. 40 lbs. 100 lbs. Radial Load 4 lbs. 7 lbs. 10 lbs. 40 lbs. 100 lbs. * When using shaft seals, the radial bearing load is reduced by 10%. * Bearing load capacity should be reduced by 50% for resolutions over 2500 PPR to insure proper signal tolerances. * L10 rating is the time at which 10% of units will fail. * Ratings at 60 C (140 F) Temperature There are three application parameters to consider: 1. The maximum operating temperature of the encoder and the mating cordset. 2. The minimum operating temperature of same. 3. The rate of change from cold to hot and hot to cold expressed in C per hour. Most models have a standard maximum operating temperature of +75 C (+167 F). Our high temperature encoder is capable of +105 C (+221 F) with quick disconnect and +110 C (+230 F) with cable output. In specialty cases, Kübler by TURCK can supply a maximum operating temperature of +115 C (+239 F). In some cases, isolating the encoder from a heat source (i.e. drive motor) with pheonolic barriers will improve the temperature performance. At the low end our standard minimum operating temperature is -20 C (-4 F). We offer an extended range to -45 C (-49 F) on request. In cases where temperature changes are extreme and fast, condensation may build up inside the encoder causing the system to fault (i.e. applications in refrigerated environments which can be subjected to high pressure steam for cleaning purposes). Contact the factory for application specific solutions for condensation. Transients When mounting encoders onto large AC motors, the encoder shaft should be electrically isolated from the motor shaft. If not, electrical transients from the motor can find their way to chassis ground through the encoder causing encoder bearing failures, noise problems, etc. To prevent this potential hazard, flexible couplings with isolation inserts should be used. A15

17 Termination Kübler by TURCK offers M12 eurofast, M23 multifast, MS/MIL connectors and cable connections. Typically PVC cable is capable of +105 C (+221 F). Special materials and higher temperature styles available on request, consult factory for details. Our encoder cable is UL approved. See chart for color abbreviations. Overview Color Black (BK) Violet (VT) Brown (BN) Grey (GY) Red (RD) White (WH) Orange (OG) Pink (PK) Yellow (YE) Gold (GD) Green (GN) Turquoise (TQ) Blue (BU) Silver (SR) Wire Gauge AWG mm 2 O.D. mm DC Resistance ohms/km Shielding / Ground Loops To prevent unwanted noise from giving erroneous count information from an encoder, precautions should be taken. Power lines (large switching currents) should always be run in separate conduit from encoder and other signal cables. Encoder signal lines should be twisted pairs and complementary outputs should be used for maximum protection. Encoders should always be grounded to the machine chassis. Kübler by TURCK encoders provide a case ground connection in either the cabling or connector. This connection can be used if the encoder can not be tied to the machine chassis ground. Do not ground the encoder case and cable shield to chassis ground simultaneously. Only one point should be grounded to chassis or a ground loop may be created. or A16

18 Kübler by TURCK General Overview Humidity Each model has been designed to operate at 98% humidity with zero condensation. In conditions where higher humidity exists, one way check valves and positive air/drains can be incorporated. Kübler Plus Reverse Polarity Protection On select encoder models, protection against mis-wiring of encoder power leads is standard. Please review individual data sheets for details. Short-circuit Protection On select encoder models, output channels can be shorted to ground, V+, or other output channels without damage. See individual encoder specs for details. Aging Compensation To compensate for aging LEDs, all Kübler by TURCK encoders utilize an internal feedback circuit. This circuitry monitors and maintains proper LED intensity to provide waveform integrity over the life of the encoder. Temperature Compensation Temperature sensing circuitry ensures that signal integrity will be maintained over the encoders full operating temperature span of the encoder. A17

19 Approvals CE: All Kübler by TURCK encoders fully comply with CE regulations and are tested to conform to EN , EN and EN Class B. UL & ULc: Our entire family of products has undergone UL and ULc testing to specification UL 61010C-1. Contact the factory for the listing information report. Overview Environmental Protection Where aluminum housings are incorporated we apply a proprietary powder coat process which has passed a 1200 hour salt spray test as tested by an independent testing lab. Each model has been environmentally tested by UL in accordance with NEMA standards. Additionally, our encoders have been designed and tested in our own testing facilities against IP standards. See specific models for details. The following chart defines IP ratings. The IP classification according to EN describes how the encoder is protected against particles and water. It is described as an abbreviation IP followed by two numbers. The first digit defines the size of the particles. The higher the number the smaller the particles. The second digit defines the resistance against water. The higher the number, the higher the water pressure can be. Our encoders have a protection rating up to IP 67. IP Rating Definitions Protection Against Particles (First Digit): 0 Not protected. 1 Protected against particles 50 mm and larger. 2 Protected against particles 12.5 mm and larger. 3 Protected against particles 2.5 mm and larger. 4 Protected against particles 1.0 mm and larger. 5 Protected against dust. 6 Dust proof. Protection Against Water (Second Digit) 0 Not protected. 1 Protected against vertically falling drops of water. 2 Protected against falling drops of water up to 15 from vertical. 3 Protected against water sprayed up to 60 from vertical. Protected against water sprayed from all directions, 4 limited ingress permitted. 5 6 Protected against low pressure jets from all directions, limited ingress permitted. Protected against strong jets of water, e.g. for use on ship decks, limited ingress permitted. 7 Protection against the affects of immersion between 15 cm and 1 m. 8 Protected against long periods of immersion under pressure. A18

20 Kübler by TURCK General Overview NEMA NEMA 1 Enclosures are intended for indoor use primarily to provide a degree of protection against limited amounts of falling dirt. NEMA 3 Enclosures are intended for outdoor use primarily to provide a degree of protection against rain, sleet, windblown dust and damage from external ice formation. NEMA 4 Enclosures are intended for indoor or outdoor use primarily to provide a degree of protection against windblown dust and rain, splashing water, hose-directed water and damage from external ice formation. NEMA 4X Enclosures are intended for indoor or outdoor use primarily to provide a degree of protection against corrosion, windblown dust and rain, splashing water, hose-directed water and damage from external ice formation. NEMA 6 Enclosures are intended for indoor or outdoor use primarily to provide a degree of protection against hose-directed water, the entry of water during occasional temporary submersion at a limited depth and damage from external ice formation. NEMA 6P Enclosures are intended for indoor or outdoor use primarily to provide a degree of protection against hose-directed water, the entry of water during prolonged submersion at a limited depth and damage from external ice formation. NEMA 13 Enclosures are intended for indoor use primarily to provide a degree of protection against dust, spraying of water, oil and non-corrosive coolant. A19

21 Convert mm to Inches 1 inch = 25.4 mm Example: 0.5 inch / = 12.7 mm Example: 58 mm x = inches Convert C to F and F to C Celsius to Fahrenheit Formula: F = 9/5 C +32 Example: 9/5 (100 C) +32 = 212 F Fahrenheit to Celsius Formula: C = 5/9( F-32) Example: 5/9 (100 F -32) = C Newtons to Pounds N x = lbs. Example: 140 N x = lbs. Angular Measurement 360 degrees in a circle. 60 arc minutes in a degree (21600 arc minutes in a circle). 60 arc seconds in an arc minute ( arc seconds in a circle). Need PPR to get arc second resolution PPR / 360 degrees = 100 pulse per degree PPR / arc minutes = pulses per arc minute PPR / =.0278 pulses per arc second. Newton Centimeter Force to Inch Pounds 1N-cm= T inch-pounds Formulas Overview Linear Measurement Example #1: - Measuring wheel with a 12 inch circumference. Linear Resolution 0.01 inch Encoder Resolution 1200 Encoder Resolution = Circumference Linear Resolution 12 in PPR = 0.01 in. A20

22 Kübler by TURCK Incremental Shaft Encoders T Housing Style Diameter Protection Maximum Pulse Rate Page Number 24 mm IP B5 T mm IP B7 T mm IP B9 T mm (2.5 ) (Industry Standard) IP 65 / IP 66* IP 67** 5000 / 36,000 B11 - B22 * with shaft seal * stainless steel version Input Voltages and Output Circuits B3 - B4 T Miniature Incremental Shaft Encoder B5 T Light Duty Incremental Shaft Encoder B7 T Economy Incremental Shaft Encoder B9 T Industrial Incremental Shaft Encoder B11 T Extended Temperature Incremental Shaft Encoder B15 T Sine Wave Incremental Shaft Encoder B17 T High Resolution Incremental Shaft Encoder B Series Flange Options B Series Wiring Formats and Output Signal Options B22 B1

23 Incremental Hollowshaft Encoders T Housing Style Diameter Protection Maximum Pulse Rate Page Number T mm IP B23 37 mm IP B25 Incremental T mm (2.5 ) (Industry Standard) IP 40 / IP 66* IP 67 ** 5000 / 36,000 B27 - B38 T8.A mm (Industry Standard) (size 35 replacement) IP B39 - B42 * with shaft seal and blind hollowshaft * stainless steel version T Miniature Incremental Hollowshaft Encoder B23 T Economy Incremental Hollowshaft Encoder B25 T Industrial Incremental Hollowshaft Encoder B27 T High Temperature Incremental Hollowshaft Encoder B29 T Sine Wave Incremental Hollowshaft Encoder B31 T High Resolution Incremental Hollowshaft Encoder B33 T Stainless Steel Incremental Hollowshaft Encoder B Series Flange Options B Series Wiring Formats and Output Signal Options B38 T8.A020 - Large Bore Incremental Hollowshaft Encoder B39 T8.A020 - Series Wiring Formats and Output Signal Options B42 B2

24 Kübler by TURCK Incremental Shaft Encoders Input Voltages and Output Circuits Open Collector The 7273 output IC from East Texas Optical runs on 5-30 VDC and is rated at 40 ma at +25 C (+77 F) and uses an NPN transistor output. By adding an external pull up resistor this can act as a sourcing (PNP) device. Note: Longer cable lengths and higher operating temperatures may affect system performance. Push-Pull The IC-WE output IC from IC Haus incorporates both NPN and PNP transistors capable of sinking and sourcing up to 30 ma at +25 C (+77 F) when using an encoder cable. Note: Longer cable lengths and higher operating temperatures may affect system performance. Line Driver The 7272 line driver output IC from East Texas Optical runs on VDC. It has both and NPN and PNP transistors on-board the IC. It can sink and source up to 40 ma at +25 C (+77 F) and can be used for longer cable lengths. Note: Longer cable lengths and higher operating temperatures may affect system operation including lower frequency response and current capacity. TTL The 26LS31 output IC from Texas Instruments or National runs on 5 VDC and drives 20 ma at +85 C (+185 F) when using an encoder cable. It follows standard TTL logic specifications switching from VDC. There is also a version that is supplied with VDC and gives 5 VDC square wave output. Note: Longer cable lengths and higher operating temperatures may affect system operation including lower frequency response and current capacity. B3

25 Sin/Cos Sine wave signals are typically used for servo applications where high resolutions and slow speeds are required. Sine waves are easily processed by external A to B converters (analog to digital) to provide high resolution square wave outputs. The pictures below show the raw sine wave and the corresponding processed multiplied square wave. Sin/Cos Wave Form A Incremental B The sine wave signals are analog voltage signals. They can be externally processed to provide multiplication by 10, 20, 50, 100, 400, 500, 1000 and binary factors, 1024, 2048, etc. This system uses an output circuit part number IC-WE from IC-Haus and runs on 5 VDC or VDC. It provides a 1 V peak to peak output. B4

26 Kübler by TURCK Incremental Shaft Encoders Type T Miniature Incremental Shaft Encoder Temperature and Aging Compensation Reverse Polarity & Short-circuit Protection High Shock & Vibration High Frequency Response High Noise Immunity ISO 9001 Specifications Input / Outputs 5-24 VDC Push-pull (IC-WE), 7272 line driver, 8-30 VDC Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. 50 ma Short-circuit Protection Yes (DIN-IEC ) Reverse Polarity Protection Yes Protection IP 64, IP 67 at cable exit per EN Speed Up to 12,000 RPM Operating Frequency 160 khz maximum Operating Temperature -20 C to +90 C (-4 F to +194 F) Shaft Load - Radial 4 lbs. (17 N) Shaft Load - Axial 4 lbs. (17 N) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 2.12 oz. (0.06 kg) Housing / Shaft Aluminum, chromium plated / 316 stainless Starting Torque 0.14 oz./in. (<0.001 Nm) Pulse Rates Standard pulses rates (PPR): 4, 6, 10, 16, 20, 25, 36, 40, 50, 60, 80, 100, 120, 125, 180, 200, 250, 300, 360, 400, 500, 512, 1000, 1024, 1080 (additional pulse rates available on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. Standard Wiring Output Case Ground Common +V A A B B Z Z Cable Shield / Drain WH BN GN YE GY PK BU RD B5

27 Type T Miniature Incremental Shaft Encoder T with 24 mm Diameter Flange Axial Connection Radial Connection Incremental Part Number Key T X X X X. XXXX Flange 1 = 24 mm 2 = 30 mm 3 = 28 mm Shaft 1 = 4 mm x 10 mm 2 = 6 mm x 10 mm 3 = 5 mm x 20 mm w/flat 4 = 1/4 x 10 mm Pulse Rate (PPR) See page B5 Connection Type 1 = Axial cable (PVC, 2 meter) 2 = Radial cable (PVC, 2 meter) Input / Output Circuit 2 = 5-24 VDC / Push-pull 4 = 7272 line driver, 8-30 VDC (differential) B6

28 Kübler by TURCK Incremental Shaft Encoders Type T Light Duty Incremental Shaft Encoder Up to 3600 PPR in 36 mm Package M12 eurofast Connectors Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration High Frequency Response High Noise Immunity ISO 9001 Specifications Input / Outputs 5 VDC TTL (26C31), VDC push-pull (IC-WE) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. 5 VDC TTL 100 ma, Push-pull 150 ma Short-circuit Protection 5 VDC TTL Yes 1), Push-pull No (DIN-IEC ) Reverse Polarity Protection 5 VDC TTL No, Push-pull No Speed Up to 12,000 RPM Operating Frequency 5 VDC TTL 125 khz max. Push-pull 100 khz Operating Temperature -20 C to +80 C (-4 F to +176 F) Shaft Load - Radial 7 lbs. (31 N) Shaft Load - Axial 7 lbs. (31 N) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 3.53 oz. (0.1 kg) Protection IP 66, IP 67 at cable exit Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 0.99 oz./in. (<0.007 Nm) 1) Only one channel at a time: (when +V = 5 VDC, short-circuit to common, or +V is permitted (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 15, 50, 60, 90, 100, 180, 200, 250, 256, 300, 314, 360, 400, 500, 600, 625, 635, 720, 800, 900, 1000, 1024, 1080, 1200, 1250, 1500, 1600, 2000, 2500, Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. Standard Wiring / Pin Configuration A leads B when shaft is rotated clockwise. Output Case Ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU B7 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

29 Type T Light Duty Incremental Shaft Encoder T with 36 mm Servo Flange Radial Connection Axial Connection Incremental Optional Molded M12 eurofast Pinout Part Number Key T X X X. XXXX Flange 1 = 36 mm servo flange Shaft 2 = 6 mm x 10 mm 7 = 1/4 x 10 mm Input / Output Circuit 1 = (TTL) 5 VDC 2 = (TTL) VDC with 5 VDC regulator 3 = VDC / Push-pull Pulse Rate (PPR) See page B7 Connection Type H = Axial cable with molded 8-pin, M12 (eurofast) J = Radial cable with molded 8-pin, M12 (eurofast) 1 = Axial cable (PVC, 1 meter) 2 = Radial cable (PVC, 1 meter) B8

30 Kübler by TURCK Incremental Shaft Encoders Type T Economy Incremental Shaft Encoder M12 eurofast Connectors Tube Tech - 10 x Normal Cable Strain Relief Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration High Frequency Response High Noise Immunity ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL 5 VDC max. 100 ma, line driver 5-30 VDC (7272) max. 150 ma Short-circuit Protection 1) TTL 5 VDC Yes 2), line driver 5-30 VDC (7272) Yes (DIN-IEC ) Reverse Polarity Protection TTL 5 VDC No, line driver 5-30 VDC (7272) No Speed Up to 6000 RPM Operating Frequency 250 khz max. Operating Temperature -20 C to +80 C (-4 F to +176 F) Shaft Load - Radial 10 lbs. (45 N) Shaft Load - Axial 10 lbs. (45 N) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2, ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 3.53 oz. (0.1 kg) Protection IP 65 at shaft, IP 67 at cable outlet Housing / Shaft Carbon fiber composite / 316 stainless Starting Torque 0.99 oz./in. (<0.007 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted) (when +V = 5-30 VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 10, 25, 50, 60, 100, 180, 200, 250, 300, 360, 400, 500, 512, 600, 1000, 1024, 1200, 1500, 1800, 2000, 2048, 2500 (additional pulse rates available on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. Standard Wiring / Pin Configuration A leads B when shaft is rotated clockwise. Output Case Ground Common +V A A B B Z Z M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD B9 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

31 Type T Economy Incremental Shaft Encoder T with Flange Radial Connection Axial Connection Incremental Optional Molded M12 eurofast Pinout TUBE TECH cable outlet improves strain relief and environmental protection over traditional cable grommets. Part Number Key T X X X X. XXXX Flange 1 = 37 mm flange Shaft 3 = 6 mm x 12.5 mm 4 = 1/4 x 12.5 mm Input / Output Circuit 1 = (TTL) 5 VDC 2 = (TTL) VDC with 5 V regulator 3 = 7272 line driver, 5-30 VDC* * with a 5 VDC power supply TTL compatible Pulse Rate (PPR) See page B9 Connection Type 1 = Axial cable (PVC, 1 meter) 2 = Radial cable (PVC, 1 meter) I = Axial cable with molded 8-pin, M12 (eurofast) J = Radial cable with molded 8-pin, M12 (eurofast) B10

32 Kübler by TURCK Incremental Shaft Encoders Type T Industrial Incremental Shaft Encoder Size 25 Industrial Standard M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration Reverse Polarity Protection Available ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), TTL VDC (with 5 VDC regulator), line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), Push-pull 5-30 VDC (IC-WE), TTL 5-30 VDC Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, Push-pull max. 150 ma, 7272 max. 150 ma, 7273 max. 150 ma Short-circuit Protection 1) TTL Yes 2), Push-pull Yes, 7272 Yes, 7273 Yes (DIN-IEC ) Reverse Polarity Protection TTL 5 VDC No, TTL VDC Yes, Push-pull No, 7272 Yes, 7273 Yes Speed Up to 12,000 RPM (3000 RPM with shaft seals) Operating Frequency 300 khz max. Operating Temperature -20 C to +90 C (-4 F to +194 F) extended temperature ranges available -40 C and +105 C Shaft Load - Radial 40 lbs. higher bearing loads (100 lbs. radial) use bearing box accessory P/N Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 65, IP 66 with shaft seal Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 3 in./oz. with shaft seal (<0.02 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 1, 5, 10, 15, 20, 25, 30, 36, 50, 60, 64, 100, 120, 125, 127, 150, 176, 180, 200, 216, 240, 250, 254, 256, 270, 300, 314, 360, 375, 377, 400, 500, 512, 600, 625, 700, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1200, 1250, 1256, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (additional pulses available on request). B11

33 Type T Industrial Incremental Shaft Encoder Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. Incremental Standard Wiring / Pin Configuration Output Case Ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut MS 7-pin G F D A - B - C E MS 10-pin J F D A G B H C I E M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Special Connector Pin Configuration Output Code Output Case ground Common +V A A B B Z Z M12 eurofast Coupling Nut MS 7-pin G* F D A C B E MS 7-pin G* F D A - B - C MS 7-pin G F D A C B E MS 7-pin G F D A - B - C MS 10-pin G F D A H B I C J - - B12

34 Kübler by TURCK Incremental Shaft Encoders T Industrial Incremental Shaft Encoder T with 63.5 mm (2.5 ) Square Flange Radial Connection Axial Connection M12 Pinout M23 Pinout Note: See page B21 for flange and connector options. Axial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) A (40.0) (40.0) (40.0) (65.0) (65.0) B (57.0) 2.382(60.5) 3.268(83.0) 3.504(89.0) Radial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) C (40.5) (38.0) (38.0) (43.0) (43.0) D (55.0) (55.0) (55.0) (65.0) (65.0) E (76.0) 3.182(80.8) 3.031(77.0) 3.209(83.0) MS Pinout (7-Pin) MS Pinout (10-Pin) B13 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

35 Part Number Key T X X X X. XXXX. PXX XX Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 M = Square flange 63.5 mm (2.5 ) P = Servo flange 63.5 mm (2.5 ) S = Servo flange 66.5 mm (2.62 ) Z = Square flange 63.5 mm (2.5 ) w/shaft seal Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm B = 1/4 x 7/8 Input / Output Circuit 4 = (TTL) 5 VDC (differential) 5 = (TTL) VDC w/5 VDC reg. (differential) 9 = Push-pull 5-30 VDC (differential) P = 3/8 x 7/8 W= 8 mm x 20.5 R = 7273 open collector 5-30 VDC T = 7272 line driver 5-30 VDC Y = (TTL) 5-30 VDC (differential) Pulse Rate (PPR) See page B11 Connection Type 1 = Axial cable (PUR, 1 meter) 2 = Radial cable (PUR, 1 meter) 3 = Axial 12-pin, M23 (multifast ) 5 = Radial 12-pin, M23 (multifast) D = Axial MS, 10-pin (MS 3102R18-1P) Y = Radial MS, 10-pin (MS 3102R18-1P) Special Connector Wiring Formats See page B12 Special Output Signal Formats See below T = Axial M12, 8-pin, (eurofast ) G = Radial M12, 8-pin, (eurofast) W = Radial MS, 7-pin (MS 3102R165-1P) Z = Axial MS, 7-pin (MS 3102R165-1P) Incremental Output Signal Formats A leads B when the shaft is turned in the clockwise direction viewing the shaft or collet end. This is the Kübler by TURCK standard. This format applies to the pin key codes listed below. B leads A when the shaft is rotated in the clockwise direction viewing the shaft or collet end. This format applies to the pin key codes listed below: A leads B, Z gated with A & B. This is the Kübler by TURCK standard. Z is 90 wide. Code 04: B leads A, Z gated with A & B. Z is 90 wide. Code 01: A leads B, Z gated with B. Z is 180 wide. Code 05: B leads A, Z gated with B. Z is 180 wide. Code 02: A leads B, Z gated with A. Z is 180 wide Code 06: B leads A, Z gated with A. Z is 180 wide. Code 03: A leads B, Z ungated. Z is 330 to 360 wide. Code 08: A leads B. Code 07: B leads A, Z is ungated. Z is 330 to 360 wide. Code 09: B leads A, Z gated with B. Z is 180 wide. Code 13: A leads B, Z gated with B. Z is 180 wide. Code 11: A leads B, Z is a minimum with of 270 (electrical degrees). Code 10: B leads A, Z is a negative marker gated with B. Z is 180 wide. Code 12: B leads A. Z has a minimum width of 270. B14

36 Kübler by TURCK Incremental Shaft Encoders Type T Extended Temperature Incremental Shaft Encoder Size 25 Industrial Standard M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection Reverse Polarity Protection Available High Shock and Vibration High Frequency Response Temperature Rating up to 110 C (230 F) ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), TTL VDC (with 5 VDC regulator) line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), push-pull VDC (IC-WE) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, Push-pull max. 150 ma, ma, ma Short-circuit Protection 1) TTL Yes 2), Push-pull Yes, 7272 Yes, 7273 Yes (DIN-IEC ) Reverse Polarity Protection TTL 5 VDC No, TTL VDC Yes, Push-pull Yes, 7272 Yes, 7273 Yes Speed Up to 12,000 RPM (3000 RPM with shaft seals) Operating Frequency 300 khz max. Operating Temperature -20 C to +105 C (-4 F to +221 F) 110 C (230 F) with TPE cable Shaft Load - Radial 40 lbs. higher bearing loads (100 lbs. radial) use bearing box accessory P/N Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 65, IP 66 with shaft seal Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 3 oz./in. with shaft seal (<0.02 Nm) 1) When supply voltage is applied correctly. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted) (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 1, 5, 10, 15, 20, 25, 30, 36, 50, 60, 64, 100, 120, 125, 127, 150, 176, 180, 200, 216, 240, 250, 254, 256, 270, 300, 314, 360, 375, 377, 400, 500, 512, 600, 625, 700, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1200, 1250, 1256, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (additional pulses available on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. B15 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

37 Standard Wiring / Pin Configuration Type T Extended Temperature Incremental Shaft Encoder Output Case Ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut MS 7-pin G F D A - B - C E MS 10-pin J F D A G B H C I E M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Incremental T with 63.5 mm (2.5 ) Square Flange Radial Connection Axial Connection M12 Pinout Note: See page B21 for flange and connector options. Axial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) A (40.0) (40.0) (40.0) (65.0) (65.0) B (57.0) 2.382(60.5) 3.268(83.0) 3.504(89.0) Radial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) C (40.5) (38.0) (38.0) (43.0) (43.0) D (55.0) (55.0) (55.0) (65.0) (65.0) E (76.0) 3.182(80.8) 3.031(77.0) 3.209(83.0) Part Number Key Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 mm M = Square flange 63.5 mm (2.5 ) P = Servo flange 63.5 mm (2.5 ) S = Servo flange 66.5 mm (2.62 ) Z = Square flange 63.5 mm (2.5 ) w/shaft seal Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm Input / Output Circuit 4 = (TTL) 5 VDC (differential) 5 = (TTL) VDC w/5 VDC reg. (differential) 9 = Push-pull 5-30 VDC (differential) B = 1/4 x 7/8 P = 3/8 x 7/8 T X X X X. XXXX. PXX XX R = 7273 open collector 5-30 VDC (differential) T = 7272 line driver 5-30 VDC (differential) Pulse Rate See page B22 Special Wiring Formats See page B22 Special Output Signal Formats See page B15 Connection Type 1 = Axial cable (TPE, 1 meter) 2 = Radial cable (TPE, 1 meter) 3 = Axial 12-pin, M23 (multifast) 5 = Radial 12-pin, M23 (multifast) T = Axial 8-pin, M12 (eurofast) G = Radial 8-pin, M12 (eurofast) H = Axial MS, 10-pin (MS 3102R18-1P) Y = Radial MS, 10-pin (MS 3102R18-1P) K = Axial MS, 7-pin (MS 3102R165-1P) W = Radial MS, 7-pin (MS 3102R165-1P) B16

38 Kübler by TURCK Incremental Shaft Encoders Type T Sine Wave Shaft Encoder Size 25 Industrial Standard M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection Reverse Polarity Protection Available High Shock and Vibration High Frequency Response High Noise Immunity Sine Wave Output ISO 9001 Specifications Input / Outputs 5 VDC / 1 Vpp, VDC / 1 Vpp Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. max. 110 ma Short-circuit Protection 1) Yes (DIN-IEC ) Reverse Polarity Protection 5 VDC No, VDC Yes Speed Up to 12,000 RPM (3000 RPM with shaft seals) Operating Frequency 300 khz max. Operating Temperature -20 C to +90 C (-4 F to +194 F) Shaft Load - Radial 40 lbs. higher bearing loads (100 lbs. radial) use bearing box accessory P/N Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 65, IP 66 with shaft seal Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 3 oz./in. with shaft seal (<0.02 Nm) 1) When supply voltage is applied correctly. Pulse Rates Standard pulses rates (PPR): 500, 512, 600, 625, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1250, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (other pulse rates available on request). Sine Wave A leads B when shaft is rotated clockwise B17

39 Standard Wiring / Pin Configuration Type T Sine Wave Shaft Encoder Output Case Ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut MS 7-pin G F D A - B - C E MS 10-pin J F D A G B H C I E M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Incremental T with 63.5 mm (2.5 ) Square Flange Radial Connection Axial Connection M12 Pinout Note: See page B21 for flange and connector options. Part Number Key Axial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) A (40.0) (40.0) (40.0) (65.0) (65.0) B (57.0) 2.382(60.5) 3.268(83.0) 3.504(89.0) Radial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) C (40.5) (38.0) (38.0) (43.0) (43.0) D (55.0) (55.0) (55.0) (65.0) (65.0) E (76.0) 3.182(80.8) 3.031(77.0) 3.209(83.0) Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 mm M = Square flange 63.5 mm (2.5 ) P = Servo flange 63.5 mm (2.5 ) S = Servo flange 66.5 mm (2.62 ) Z = Square flange 63.5 mm (2.5 ) w/shaft seal T X X X X. XXXX. XX Special Connector Wiring Formats See page B22 Pulse Rate See page B17 M = Axial MS, 10-pin (MS 3102R18-1P) Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm B = 1/4 x 7/8 P = 3/8 x 7/8 Input / Output Circuit 1 = 5 VDC / 1 Vpp sine wave 2 = VDC / 1 Vpp sine wave Connection Type 1 = Axial cable (TPE, 1 meter) 2 = Radial cable (TPE, 1 meter) 3 = Axial 12-pin, M23 (multifast) 5 = Radial 12-pin, M23 (multifast) T = Axial 8-pin, M12 (eurofast) G = Radial 8-pin, M12 (eurofast) M = Axial MS, 10-pin (MS 3102R18-1P) Y = Radial MS, 10-pin (MS 3102R18-1P) N = Axial MS, 7-pin (MS 3102R165-1P) W = Radial MS, 7-pin (MS 3102R165-1P) B18

40 Kübler by TURCK Incremental Shaft Encoders Type T High Resolution Incremental Shaft Encoder Size 25 Industrial Standard M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration Reverse Polarity Protection Available High Frequency Response High Noise Immunity Resolution up to 36,000 PPR ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), TTL VDC (with 5 VDC regulator), line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), push-pull VDC (IC-WE) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TLL Max. 100 ma, Push-pull Max. 160 ma, ma, ma Short-circuit Protection TLL Yes 2, Push-pull Yes, 7272 Yes, 7273 Yes (DIN-IEC ) Reverse Polarity Protection 5 VDC No, VDC Yes, Push-pull Yes, 7272 Yes, 7273 Yes Speed Up to 12,000 RPM (3000 RPM with shaft seals) Operating Frequency TTL 300 khz max., Push-pull 300 khz Operating Temperature -20 C to +90 C (-4 F to +194 F) Shaft Load - Radial 40 lbs. higher bearing loads (100 lbs. radial) use bearing box accessory P/N Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 65, IP 66 with shaft seal Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 3 in./oz. with shaft seal (<0.02 Nm) Pulse Rates Standard pulses rates (PPR): 6000, 7200, 8000, 8192, 9000, 10000, 18000, 20000, 24000, 25000, Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. B19

41 Standard Wiring / Pin Configuration Type T High Resolution Incremental Shaft Encoder Output Case Ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut MS 7-pin G F D A - B - C E MS 10-pin J F D A G B H C I E M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Incremental T with 63.5 mm (2.5 ) Square Flange Radial Connection Axial Connection M12 Pinout Note: See page B21 for flange and connector options. Part Number Key Axial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) A (40.0) (40.0) (40.0) (65.0) (65.0) B (57.0) 2.382(60.5) 3.268(83.0) 3.504(89.0) Radial Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) C (40.5) (38.0) (38.0) (43.0) (43.0) D (55.0) (55.0) (55.0) (65.0) (65.0) E (76.0) 3.182(80.8) 3.031(77.0) 3.209(83.0) T X X X X. XXXX. PXX XX Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 mm M = Square flange 63.5 mm (2.5 ) P = Servo flange 63.5 mm (2.5 ) S = Servo flange 66.5 mm (2.62 ) Z = Square flange 63.5 mm (2.5 ) w/shaft seal Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm Input / Output Circuit 4 = (TTL) 5 VDC (differential) 5 = (TTL) VDC w/5 VDC reg. (differential) 9 = Push-pull 5-30 VDC (differential) B = 1/4 x 7/8 P = 3/8 x 7/8 R = 7273 open collector 5-30 VDC T = 7272 line driver 5-30 VDC Pulse Rate See page B19 Special Connector Wiring Formats See page B22 Connection Type 1 = Axial cable (PUR, 1 meter) 2 = Radial cable (PUR, 1 meter) 3 = Axial 12-pin, M23 (multifast) 5 = Radial 12-pin, M23 (multifast) T = Axial 8-pin, M12 (eurofast) G = Radial 8-pin, M12 (eurofast) Special Output Signal Formats Blank = Standard (see page B22) 04 = B leads A, Z gated with A and B N = Axial MS, 7-pin (MS 3102R165-1P) W = Radial MS, 7-pin (MS 3102R165-1P) M = Axial MS, 10-pin (MS 3102R18-1P) Y = Radial MS, 10-pin (MS 3102R18-1P) B20

42 Kübler by TURCK Incremental Shaft Encoders 2.5 (63.5 mm) Rectangular Flange w/shaft Seal T8.58XX Series Shaft Flange Options Connector Options M12 Pinout M23 Pinout MS Pinout (7-Pin) 2.62 (66.6 mm) Servo Flange MS Pinout (10-Pin) 2.5 (63.5 mm) Servo Flange 2.28 (58 mm) Servo Flange (Mounts to Top Hat adapter) 2.28 (58 mm) Clamping Flange (Mounts to Adapter Brackets) B21

43 T8.58XX Series Wiring Formats and Output Signal Options Optional Special Connector Pin Configuration Output Code * Shield/case ground Output Case ground Common +V A A B B Z Z M12 eurofast Coupling Nut MS 7-pin G* F D A C B E MS 7-pin G* F D A - B - C MS 7-pin G F D A C B E MS 7-pin G F D A - B - C MS 10-pin G F D A H B I C J - - Output Signal Formats Incremental A leads B when the shaft is turned in the clockwise direction viewing the shaft or collet end. This is the Kübler by TURCK standard. This format applies to the pin key codes listed below. B leads A when the shaft is rotated in the clockwise direction viewing the shaft or collet end. This format applies to the pin key codes listed below: A leads B, Z gated with A & B. This is the Kübler by TURCK standard. Z is 90 wide. Code 01: A leads B, Z gated with B. Z is 180 wide. Code 04: B leads A, Z gated with A & B. Z is 90 wide. Code 05: B leads A, Z gated with B. Z is 180 wide. Code 02: A leads B, Z gated with A. Z is 180 wide Code 06: B leads A, Z gated with A. Z is 180 wide. Code 03: A leads B, Z ungated. Z is 330 to 360 wide. Code 08: A leads B. Code 07: B leads A, Z is ungated. Z is 330 to 360 wide. Code 09: B leads A, Z gated with B. Z is 180 wide. Code 13: A leads B, Z gated with B. Z is 180 wide. Code 11: A leads B, Z is a minimum with of 270 (electrical degrees). Code 10: B leads A, Z is a negative marker gated with B. Z is 180 wide. Code 12: B leads A. Z has a minimum width of 270. All index widths are in electrical degrees B22

44 Kübler by TURCK Incremental Hollowshaft Encoders Type T Miniature Incremental Hollowshaft Encoder Temperature and Aging Compensation Reverse Polarity and Short-circuit Protection High Shock and Vibration High Frequency Response High Noise Immunity ISO 9001 Specifications Input / Outputs 5-24 VDC Push-pull, line driver 8-30 VDC (7272) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. 50 ma Short-circuit Protection Yes (DIN-IEC ) Reverse Polarity Protection Yes Speed Up to 12,000 RPM Operating Frequency 160 khz max. Operating Temperature -20 C to +90 C (-4 F to +194 F) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 2.11 oz. (0.06 kg) Protection IP 64, IP 67 at cable exit per EN Housing / Shaft Aluminum, chromium plated / 316 stainless Starting Torque 0.14 oz./in. (<0.001 Nm) Pulse Rates Standard pulses rates (PPR): 4, 6, 10, 16, 20, 25, 36, 40, 50, 60, 80, 100, 120, 125, 180, 200, 250, 300, 360, 400, 500, 512, 1000, 1024, 1080 (additional pulse rates on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. Standard Wiring Output Case Ground Common +V A A B B Z Z Cable Shield / Drain WH BN GN YE GY PK BU RD B23

45 Type T Miniature Incremental Hollowshaft Encoder Accepts 3 mm torque pin N included with encoder. T with 24 mm Diameter Flange Axial Connection Radial Connection Incremental Secured with (4) M3 set screws at 90, 4 mm long Part Number Key T X X X. XXXX Flange 1 = 24 mm flange - blind (depth 14 mm) Bore Dimension 1 = 4 mm 2 = 6 mm 4 = 1/4 Pulse Rate (PPR) See page B23 Connection Type 1 = Axial cable (PVC, 2 meter) 2 = Radial cable (PVC, 2 meter) Input / Output Circuit 2 = 5-24 VDC / Push-pull 4 = 7272 linedriver, 8-30 VDC (differential) B24

46 Kübler by TURCK Incremental Hollowshaft Encoders Type T Economy Incremental Hollowshaft Encoder M12 eurofast Connectors Tube Tech : 10 x Normal Cable Strain Relief Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration High Frequency Response High Noise Immunity ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272) VDC, Push-pull 5-30 VDC (IC-WE) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, 7272 max. 120 ma, Push-pull Yes max. 120 ma Short-circuit Protection 1) TTL 5 VDC Yes 2), line driver 5-30 VDC (7272) Yes, Push-pull Yes (DIN-IEC ) Reverse Polarity Protection TTL 5 VDC No, line driver 5-30 VDC (7272) No, Push-pull No Speed Up to 6000 RPM Operating Frequency 250 khz max. Operating Temperature -20 C to +80 C (-4 F to +176 F) Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 3.53 oz. (0.1 kg) Protection IP 65 at shaft, IP 67 at cable outlet Housing / Shaft Carbon fiber composite / 316 stainless Starting Torque 0.99 oz./in. (<0.007 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted) (when +V = 5-30 VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 10, 25, 50, 60, 100, 180, 200, 250, 300, 360, 400, 500, 512, 600, 1000, 1024, 1200, 1500, 1800, 2000, 2048, 2500 Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. Standard Wiring / Pin Configuration Output Case Ground Common +V A A B B Z Z M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD B25

47 Type T Economy Incremental Hollowshaft Encoder T with Torque Stop Flange Accepts 4 mm torque pin N included with encoder. Incremental 60 Rotated View T with Flex Bracket Flange 60 Rotated View Optional Molded M12 eurofast Pinout Part Number Key TUBE TECH cable outlet improves strain relief and environmental protection over traditional cable grommets. T X X X X. XXXX Flange 1 = Hollowshaft with short torque stop 2 = Hollowshaft with long torque stop 5 = Hollowshaft with flex bracket Bore Dimension 2 = 5 mm 3 = 6 mm 4 = 1/4 Pulse Rate (PPR) See page B25 Connection Type 1 = Radial cable (PVC, 1 meter) 9 = Radial cable with molded 8-pin, M12 (eurofast) Input / Output Circuit 1 = (TTL) 5 VDC 2 = Push - pull 5-30 VDC (differential) 3 = 7272 line driver, 5-30 VDC B26

48 Kübler by TURCK Incremental Hollowshaft Encoders Type T Industrial Incremental Hollowshaft Encoder Low Profile Housing M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration High Frequency Response High Noise Immunity Reverse Polarity Protection Available ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), Push-pull 5-30 VDC, TTL VDC (with 5 VDC regulator) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, Push-pull max. 150 ma, 7272 max. 150 ma, 7273 max. 150 ma Short-circuit Protection 1) TTL Yes 2), Push-pull Yes, 7272 Yes, 7273 Yes (DIN-IEC ) Reverse Polarity Protection TLL 5 VDC No, Push-pull VDC Yes, 7272 Yes, 7273 Yes, Push-pull 5-30 VDC No Speed Up to 12,000 RPM (6000 RPM with shaft seals) Operating Frequency 300 khz max. Operating Temperature -20 C to +90 C (-4 F to +194 F) wo/shaft seals / -20 C to +85 C (4 F to +185 F) w/shaft seals Shock / Vibration 1000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 40, IP 66 with shaft seal and blind hollowshaft Housing / Shaft Aluminum, chromium plated / 316 stainless Starting Torque 1.4 oz./in (<0.01 Nm) 3 oz./in. with shaft seal (<0.02 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 1, 5, 10, 15, 20, 25, 30, 36, 50, 60, 64, 100, 120, 125, 127, 150, 176, 180, 200, 216, 240, 250, 254, 256, 270, 300, 314, 360, 375, 377, 400, 500, 512, 600, 625, 700, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1200, 1250, 1256, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (additional pulses available on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. Total Indicated Runout (measuring error < bit) A leads B when shaft is rotated clockwise. Pulses: Permissible axial offset Permissible radial offset Permissible radial offset up to 1000 ±0.4 mm ±0.09 mm ±0.075 mm up to 2500 ±0.16 mm ±0.036 mm ±0.028 mm up to 5000 ±0.08 mm ±0.018 mm ±0.014 mm B27

49 Standard Wiring / Pin Configuration Type T Industrial Incremental Hollowshaft Encoder Output Case ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU T with Flange for Through Shaft M12 Pinout Incremental M23 Pinout Note: See page B37 for flange and connector options. Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key T X X X X. XXXX. PXX XX Flange 1 = Flange - through shaft, torque stop 2 = Flange - blind (depth 30 mm), torque stop 3 = Flange - through shaft, flex mount 4 = Flange - blind shaft, flex mount (depth 30 mm) Bore Dimension 1 = 6 mm 2 = 6 mm with seal 3 = 8 mm 4 = 8 mm with seal 5 = 10 mm 6 = 10 mm with seal 7 = 12 mm 8 = 12 mm with seal A = 1/2 B = 1/4 K = 3/8 with seal R = 3/8 S = 1/4 with seal U = 1/2 with seal Pulse Rate (PPR) See page B27 Connection Type Input / Output Circuit See page B38 See page B38 1 = (TTL) 5 VDC (differential) 4 = (TTL) VDC w/5 VDC reg. (differential) 6 = Push-pull 5-30 VDC (differential) 7 = (TTL) 5-30 VDC (differential) Special Connector Wiring Formats Special Output Signal Formats 1 = Radial cable (PVC, 1 meter) 2 = Radial 12-pin, M23 (multifast) C = Radial 8-pin, M12 (eurofast) B = 7273 open collector 5-30 VDC (differential) C = 7272 line driver 5-30 VDC (differential) B28

50 Kübler by TURCK Incremental Hollowshaft Encoders Type T High Temperature Incremental Hollowshaft Encoder High Temperature to 105 C (221 F) Low Profile Housing M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection Reverse Polarity Protection Available High Shock and Vibration High Frequency Response High Noise Immunity Temperature Rating up to 110 C ( 230 F) ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), Push-pull 5-30 VDC, TTL VDC (with 5 VDC (with 5 VDC regulator) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, Push-pull max. 150 ma, ma, ma Short-circuit Protection 1) TTL Yes 2), Push-pull Yes (DIN-IEC ) Reverse Polarity Protection 5 VDC: No, VDC: Yes, Push-pull Yes Speed Up to 12,000 RPM (6000 RPM with shaft seals) Operating Frequency 300 khz max. Operating Temperature (cable) -20 C to +110 C (-4 F to +230 F) w/shaft seals / -20 C to +95 C (-4 F to +203 F) wo/shaft seals Operating Temperature -20 C to +105 C (-4 F to +221 F) w/shaft seals / -20 C to +95 C (-4 F to +203 F) wo/shaft seals (quick disconnect) Shock / Vibration 2000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 (10 to 2000 Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 40, IP 66 with shaft seal and blind hollowshaft Housing / Shaft Aluminum, chromium plated / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 3 oz./in. with shaft seal (<0.02 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 1, 5, 10, 15, 20, 25, 30, 36, 50, 60, 64, 100, 120, 125, 127, 150, 176, 180, 200, 216, 240, 250, 254, 256, 270, 300, 314, 360, 375, 377, 400, 500, 512, 600, 625, 700, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1200, 1250, 1256, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (additional pulses available on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. B29

51 Standard Wiring / Pin Configuration Type T High Temperature Incremental Hollowshaft Encoder Output Case ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU T with Flange for Through Shaft M12 Pinout Incremental M23 Pinout Note: See page B37 for flange and connector options. Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key T X X X X. XXXX. PXX XX Flange 1 = Flange - through shaft, torque stop 2 = Flange - blind (depth 30 mm), torque stop 3 = Flange - through shaft, flex mount 4 = Flange - blind shaft (depth 30 mm), flex mount Bore Dimensions 1 = 6 mm 2 = 6 mm with seal 3 = 8 mm 4 = 8 mm with seal 5 = 10 mm 6 = 10 mm with seal 7 = 12 mm 8 = 12 mm with seal K = 3/8 with seal N = 1/2 P = 1/4 R = 3/8 S = 1/4 with seal U = 1/2 with seal Pulse Rate (PPR) See page B29 Connection Type See page B38 See page B38 1 = Radial cable, TPE, 1 meter 2 = Radial 12-pin, M23 (multifast) C = Radial 8-pin, M12 (eurofast) Input / Output Circuit Special Connector Wiring Formats Special Output Signal Formats 1 = (TTL) 5 VDC (differential) 4 = (TTL) VDC w/5 VDC reg. (differential) 6 = Push-pull 5-30 VDC (differential) B = 7273 open collector 5-30 VDC (differential) C = 7272 line driver 5-30 VDC (differential) B30

52 Kübler by TURCK Incremental Hollowshaft Encoders Type T Sine Wave Hollowshaft Encoder M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration Reverse Polarity Protection Available High Frequency Response High Noise Immunity Sine Wave Output ISO 9001 Specifications Input / Outputs 5 VDC / 1 Vpp, VDC / 1 Vpp Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. max. 110 ma Short-circuit Protection Yes (DIN-IEC ) Reverse Polarity Protection 5 VDC / 1Vpp No, VDC / 1Vpp Yes Speed Up to 12,000 RPM (6000 RPM with shaft seals) Operating Frequency 180 khz max. Operating Temperature -20 C to +90 C (-4 F to +194 F) Shock / Vibration 2000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 65, IP 66 with shaft seal and blind hollowshaft Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 7 oz./in. with shaft seal (<0.05 Nm) Pulse Rates Standard pulses rates (PPR): 500, 512, 600, 625, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1250, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (other pulse rates available on request). Sine Wave A leads B when shaft is rotated clockwise. Standard Wiring / Pin Configuration Output Case ground Common +V A A B B Z Z - - Com/Sensor *+V Sensor M23 multifast Coupling Nut M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU *+V Sensor - Push-pull only B31

53 Type T Sine Wave Hollowshaft Encoder T with Flange for Through Shaft M12 Pinout Incremental M23 Pinout Note: See page B37 for flange and connector options. Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key T X X X X. XXXX. XX Flange 1 = Flange - through shaft, torque stop 2 = Flange - blind (depth 30 mm), torque stop 3 = Flange - through shaft, flex mount 4 = Flange - blind shaft, flex mount (depth 30 mm) Bore Dimension 1 = 6 mm 2 = 6 mm with seal 3 = 8 mm 4 = 8 mm with seal 5 = 10 mm 6 = 10 mm with seal 7 = 12 mm 8 = 12 mm with seal J = 1/2 U = 1/2 with seal R = 3/8 K = 3/8 with seal V = 1/4 S = 1/4 with seal See page B31 Connection Type Special Connector Wiring Formats See page B38 Pulse Rate (PPR) 1 = Radial cable (PUR, 1 meter) 2 = Radial 12-pin, M23 (multifast) F = Radial 8-pin, M12 (eurofast) Input / Output Circuit 1 = 5 VDC / 1 Vpp sine wave 2 = VDC / 1 Vpp sine wave B32

54 Kübler by TURCK Incremental Hollowshaft Encoders Type T High Resolution Incremental Hollowshaft Up to 36,000 PPR or 144,000 CPR M12 eurofast, M23 multifast Connectors Temperature and Aging Compensation Short-circuit Protection Reverse Polarity Protection Available High Shock and Vibration High Frequency Response Resolution up to 36,000 PPR ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272), open collector 5-30 VC (7273), Push-pull 5-30 VDC, Push-pull VDC (IC-WE) Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption TTL max. 100 ma, Push-pull max. 160 ma, ma, ma Short-circuit Protection 1) TTL Yes 2), Push-pull Yes, 7272 Yes, 7273 Yes (DIN-IEC ) Reverse Polarity Protection 5 VDC No, TTL VDC Yes, Push-pull Yes, 7272 Yes, 7273 Yes Speed Up to 12,000 RPM (6000 RPM with shaft seals) Operating Frequency TTL 300 khz, Push-pull 300 khz Operating Temperature (without seals) -20 C to +90 C (-4 F to +194 F) Operating Temperature (with seals) -20 C to +85 C (-4 F to +185 F) Shock / Vibration 2000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 65, IP 66 with shaft seal and blind hollowshaft Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 7 oz./in. with shaft seal (<0.05 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 6000, 7200, 8000, 8192, 9000, 10000, 18000, 20000, 24000, 25000, The above references the standard pulse rates. These pulse rates are already multiplied internally. Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. B33

55 Standard Wiring / Pin Configuration Type T High Resolution Incremental Hollowshaft Output Case ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU T with Flange for Through Shaft M12 Pinout Incremental M23 Pinout Note: See page B37 for flange and connector options. Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key T X X X X. XXXX. PXX XX Flange 1 = Flange - through shaft, torque stop 2 = Flange - blind (depth 30 mm), torque stop 3 = Flange - through shaft, flex mount 4 = Flange - blind shaft, flex mount (depth 30 mm) Bore Dimension 1 = 6 mm 2 = 6 mm with seal 3 = 8 mm 4 = 8 mm with seal 5 = 10 mm 6 = 10 mm with seal 7 = 12 mm 8 = 12 mm with seal R = 3/8 K = 3/8 with seal L = 1/2 U = 1/2 with seal M = 1/4 S = 1/4 with seal Pulse Rate (PPR) See page B33 Connection Type See page B38 1 = Radial cable (PVC, 1 meter) 2 = Radial 12-pin, M23 (multifast) C = Radial 8-pin, M12 (eurofast) Input / Output Circuit Special Connector Wiring Formats Special Output Signal Formats Blank = Standard See page B38 for options 1 = (TTL) 5 VDC (differential) 4 = (TTL) VDC w/5 VDC reg. (differential) 9 = Push-pull 5-30 VDC (differential) B = 7273 open collector 5-30 VDC (differential) C = 7272 line driver 5-30 VDC (differential) B34

56 Kübler by TURCK Incremental Hollowshaft Encoders Type T Stainless Steel Incremental Hollowshaft Encoder Ideal for Food and Washdown Applications Low Profile Housing M12 eurofast Connector Temperature and Aging Compensation Reverse Polarity Protection Available Short-circuit Protection High Shock and Vibration IP 66 ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), Push-pull 5-30 VDC, TTL VDC Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, Push-pull max. 100 ma, ma, ma Short-circuit Protection 1) TTL Yes 2), Push-pull Yes 2), 7272 Yes, 7273 Yes (DIN-IEC ) Reverse Polarity Protection TTL 5 VDC No, TTL VDC Yes, Push-pull Yes, 7272 Yes, 7273 Yes Speed Up to 12,000 RPM (6000 RPM with shaft seals) Operating Frequency 300 khz max. Operating Temperature (without seals) -20 C to +90 C (-4 F to +194 F) Operating Temperature (with seals) -20 C to +85 C (-4 F to +185 F) Shock / Vibration 2000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Protection IP 66 Housing / Shaft 316 stainless steel / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) 7 oz./in. with shaft seal (<0.05 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 1, 5, 10, 15, 20, 25, 30, 36, 50, 60, 64, 100, 120, 125, 127, 150, 176, 180, 200, 216, 240, 250, 254, 256, 270, 300, 314, 360, 375, 377, 400, 500, 512, 600, 625, 700, 720, 745, 750, 762, 800, 900, 927, 1000, 1024, 1200, 1250, 1256, 1270, 1400, 1500, 1800, 2000, 2048, 2250, 2400, 2500, 3000, 3600, 4000, 4096, 5000 (additional pulses available on request). Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, marker (zero reference) gated with channels A&B. A leads B when shaft is rotated clockwise. B35

57 Standard Wiring / Pin Configuration Type T Stainless Steel Incremental Hollowshaft Encoder Output Case ground Common +V A A B B Z Z - - Com/Sensor *+V Sensor M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU *+V Sensor - Push-pull only T with Flange for Through Shaft Incremental M12 Pinout Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key T X X X X. XXXX. PXX XX Flange 1 = Flange - through shaft, torque stop Bore Dimension 6 = 10 mm with seal 8 = 12 mm with seal K = 3/8 with seal S = 1/4 with seal U = 1/2 with seal Input / Output Circuit 1 = (TTL) 5 VDC (differential) 4 = (TTL) VDC w/5 VDC reg. (differential) 6 = Push-pull 5-30 VDC (differential) B = 7273 open collector 5-30 VDC (differential) C = 7272 line driver 5-30 VDC (differential) Pulse Rate (PPR) See page B35 Connection Type See page B38 1 = Radial cable (PVC, 1 meter) 2 = Radial 8-pin, M12 (eurofast) Special Connector Wiring Formats See page B38 Special Output Signal Formats B36

58 Kübler by TURCK Incremental Hollowshaft Encoders 2.83 (72 mm) Through Shaft, Flex Mount T8.582X Series Hollowshaft Flange Options Connector Options M12 Pinout M23 Pinout 2.28 (58 mm) Through Shaft Torque Stop (Short) Tether Arm Flex Bracket B37

59 T8.582X Series Wiring Formats and Output Signal Options Optional Special Connector Pin Configuration Output Case ground Common +V A A B B Z Z - - Output Code 07 M12 eurofast Coupling Nut A Incremental Output Signal Formats A leads B when the shaft is turned in the clockwise direction viewing the shaft or collet end. This is the Kübler by TURCK standard. This format applies to the pin key codes listed below. B leads A when the shaft is rotated in the clockwise direction viewing the shaft or collet end. This format applies to the pin key codes listed below: A leads B, Z gated with A & B. This is the Kübler by TURCK standard. Z is 90 wide. Code 01: A leads B, Z gated with B. Z is 180 wide. Code 04: B leads A, Z gated with A & B. Z is 90 wide. Code 05: B leads A, Z gated with B. Z is 180 wide. Code 02: A leads B, Z gated with A. Z is 180 wide Code 06: B leads A, Z gated with A. Z is 180 wide. Code 03: A leads B, Z ungated. Z is 330 to 360 wide. Code 08: A leads B. Code 07: B leads A, Z is ungated. Z is 330 to 360 wide. Code 09: B leads A, Z gated with B. Z is 180 wide. Code 13: A leads B, Z gated with B. Z is 180 wide. Code 11: A leads B, Z is a minimum with of 270 (electrical degrees). Code 10: B leads A, Z is a negative marker gated with B. Z is 180 wide. Code 12: B leads A. Z has a minimum width of 270. All index widths are in electrical degrees. B38

60 Kübler by TURCK Incremental Hollowshaft Encoders Type T8.A020 - Large Bore Incremental Hollowshaft Up to 1-1/8 Shaft Diameter M12 eurofast, M23 multifast and MS Connectors Temperature and Aging Compensation Short-circuit Protection Reverse Polarity Protection Available High Shock and Vibration High Frequency Response ISO 9001 Specifications Input / Outputs TTL 5 VDC (26C31), line driver 5-30 VDC (7272), open collector 5-30 VDC (7273), push-pull VDC (IC-WE), TTL VDC, SIN/COS 5 VDC, SIN/COS VDC Output Signals Two-channel (quadrature), zero reference (index), differential (complements) Power Consumption Max. TTL max. 100 ma, 7272 max. 150 ma, 7273 max. 150 ma, Sinus Max. 110 ma, Push-pull max. 150 A Short-circuit Protection 1) TTL Yes 2), 7272 Yes, 7273 Yes, Sinus Yes, Push-pull Yes (DIN-IEC ) Reverse Polarity Protection TTL 5 VDC No, 7272 Yes, 7273 No, TTL VDC Yes, Push-pull Yes, Sinus 5 VDC No, VDC Yes Speed Up to 3600 RPM (1500 RPM for continuous duty cycle) higher speeds available on request Operating Frequency Sinus 180 khz max.; TTL, Push-pull, 7272, khz Operating Temperature -20 C to +75 C (-4 F to +167 F) Shock / Vibration 2000 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per IEC Humidity 98% relative humidity without condensing Weight (0.7 kg) Protection IP 66 Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque oz./in. (<0.2 Nm) 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common, or +V is permitted) (when +V = VDC, short-circuit to common is permitted) Pulse Rates Standard pulses rates (PPR): 50, 360, 512, 600, 1000, 1024, 1500, 2000, 2048, 2500, 4096, Output Signals Kübler by TURCK - standard six channel output. A leads B clockwise when viewing the encoder shaft end, Total Indicated Runout (measuring error < bit) A leads B when shaft is rotated clockwise. Mounting with Stator Coupling Mounting with Torque Stop Pin Type of flange: Permissible axial offset Permissible radial offset Permissible angular offset Flange type 2 (short spring device) max. ±1 mm 3) max. ±0.3 mm max. ±2 Flange type 3 (long spring device) 4) max. ±0.3 mm max. ±2 Flange type 4 (mounting bracket) max. ±0.5 mm max. ±0.3 mm max. ±2 3) When mounting the encoder ensure that Lmin. is larger than the axial play of the drive. 4) If mounted as shown. Otherwise as per flange type 2. B39

61 Type T8.A020 - Large Bore Incremental Hollowshaft T8.A020 with Flange for Through Shaft Incremental 1 = Face Mount 2 = Short Anti-rotation Spring 3 = Long Anti-rotation Spring 4 = Tether Arm (short) 5 = Tether Arm (long) Cable direction for right angle M12 cordset is parallel to hollowshaft. Dimension Tabulation - Inches (mm) Connection Style DIM Cable M12 M23 MS (7-pin) MS (10-pin) A (30.0) (30.0) (30.0) (37.0) (37.0) B (119.5) (126.0) (129.0) (137.0) M12 Pinout M23 Pinout MS Pinout (7-Pin) MS Pinout (10-Pin) B40

62 Kübler by TURCK Incremental Hollowshaft Encoders Type T8.A020 - Large Bore Incremental Hollowshaft Standard Wiring / Pin Configuration Output Case Ground Common +V A A B B Z Z - - Com/Sensor +V Sensor M23 multifast Coupling Nut MS 7-pin G F D A - B - C E MS 10-pin J F D A G B H C I E M12 eurofast Coupling Nut Cable Shield / Drain WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Part Number Key T8. A020. X X X X. XXXX. PXX XX Flange 1 = Face mount 2 = Short anti-rotational spring 3 = Long anti-rotational spring 4 = Tether arm (short) 5 = Tether arm (long) Bore Dimension 1 = 42 mm 2 = 38 mm 3 = 28 mm 4 = 25.4 mm (1.0 ) 5 = 25 mm 6 = 24 mm A = 30 mm B = 40 mm C = 20 mm D = 12.7 mm (1/2 ) E = mm (5/8 ) F = mm (3/4 ) G = mm (1-1/8 ) N = mm (1-1/4 ) Pulse Rate (PPR) See page B39 Connection Type See page B42 See page B42 1 = Radial cable (PVC, 1 meter) 2 = Radial 12-pin, M23 (multifast) D = Radial MS, 10-pin (MS 3102R18-1P) E = Radial 8-pin, M12 (eurofast) K = Radial MS, 7-pin (MS 3102R165-1P) Special Connector Wiring Formats Special Output Signal Formats MS Radial available only with blind housing Input / Output Circuit 1 = (TTL) 5 VDC (differential) 3 = Push-Pull VDC (differential) 4 = (TTL) VDC w/5 VDC reg. (differential) 8 = Sin/Cos 1 Vpp 5 VDC (differential) 9 = Sin/Cos 1 Vpp VDC (differential) A = 7272 line driver 5-30 VDC (differential) B = 7273 open collector 5-30 VDC (differential) B41 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

63 T8.A020 Series Wiring Formats and Special Output Signal Options Optional Special Connector Pin Configuration Output Case ground Common +V A A B B Z Z - - Output Code 07 M12 eurofast Coupling Nut A Incremental Output Signal Formats A leads B when the shaft is turned in the clockwise direction viewing the shaft or collet end. This is the Kübler by TURCK standard. This format applies to the pin key codes listed below. B leads A when the shaft is rotated in the clockwise direction viewing the shaft or collet end. This format applies to the pin key codes listed below: A leads B, Z gated with A & B. This is the Kübler by TURCK standard. Z is 90 wide. Code 01: A leads B, Z gated with B. Z is 180 wide. Code 04: B leads A, Z gated with A & B. Z is 90 wide. Code 05: B leads A, Z gated with B. Z is 180 wide. Code 02: A leads B, Z gated with A. Z is 180 wide Code 06: B leads A, Z gated with A. Z is 180 wide. Code 03: A leads B, Z ungated. Z is 330 to 360 wide. Code 08: A leads B. Code 07: B leads A, Z is ungated. Z is 330 to 360 wide. Code 09: B leads A, Z gated with B. Z is 180 wide. Code 13: A leads B, Z gated with B. Z is 180 wide. Code 11: A leads B, Z is a minimum with of 270 (electrical degrees). Code 10: B leads A, Z is a negative marker gated with B. Z is 180 wide. Code 12: B leads A. Z has a minimum width of 270. All index widths are in electrical degrees. B42

64 Kübler by TURCK Absolute Encoders Absolute Shaft Encoders T T Housing Style Style Resolution Outputs Programmable Page Number Single Turn 14-Bits up to (16,384) Parallel Gray Binary BCD Analog 4-20 ma SSI No C13 Multiturn 12 x 12 up to (4096 x 4096) Parallel Gray Binary No C25 T Multiturn 13 x 12 up to (8192 x 4096) SSI RS 422 RS 485 Yes C27 Absolute Encoder Overview C3 T Absolute Single Turn Shaft Encoder C13 T Absolute Multiturn Shaft Encoder C25 T Absolute Programmable Multiturn Shaft Encoder C27 C1 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

65 Absolute Hollowshaft Encoders T Housing Style Style Resolution Outputs Programmable Page Number Single Turn 14-Bits (16,384) per turn Parallel No C17 T Single Turn 14-Bits (16,384) per turn Parallel No C21 Absolute T Multiturn 13-Bits (8192) per turn 12-Bits (4096) per turn SSI Yes C29 T Multiturn 13-Bits (8192) per turn 12-Bits (4096) per turn SSI Yes C33 T Absolute Industrial Hollowshaft Encoder C17 T Stainless Steel Absolute Hollowshaft Encoder C21 T Absolute Programmable Multiturn Hollowshaft Encoder C29 T Absolute Programmable Multiturn Large Bore Hollowshaft Encoder C33 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C2

66 Kübler by TURCK Absolute Encoders Absolute Encoder - Single Turn An incremental encoder outputs square wave pulses corresponding to the lines on the disc. Each pulse is identical to the other pulses. If power is lost, the system has no reference as to where it is. The system must return to zero and start again. Using a special patterned code disc and a sensing track for each bit, the absolute encoder outputs a digital word where each position has a unique or absolute position. The output is not dependent on keeping track of pulses. If the power is lost and the disc is turned, when power is restored the system will output the new unique position without the need to return to zero. This disc has 13 tracks which is used for a 13-bit encoder (2 13 ) or 8192 absolute positions. Single turn absolute encoders typically have from 8 to 16 bits of resolution per 360 of shaft position. If the encoder is turned past 360, count resumes back to position 0. The following example depicts a 4-bit (2 4 ) absolute encoder. Absolute Encoder - Multiturn Multiturn absolute encoders typically have from 12 to 13 bits of resolution per 360 of shaft rotation and will provide a 12-bit word corresponding to the number of turns it has traveled. Therefore, the multiturn encoder can have a total resolution of 25 bits (8192 positions/turn x 4096 turns). C3

67 Resolution Resolution of an Absolute Encoder Absolute single turn with 4-bit resolution, Binary code Calculation: Number of steps = 2 4 = 16 positions Encoder Output Value in Binary Format Encoder Shaft Position = = = = = = = = = 1 Absolute To get the actual absolute value of an absolute encoder, the entire data length (Bits) has to be read. Typical Specification for Absolute Singleturns 10 bit = 2 10 = 1,024 steps 360 / 1,024 = 0.35 resolution 11 bit = 2 11 = 2,048 steps 360 / 2,048 = 0.18 resolution 12 bit = 2 12 = 4,096 steps 360 / 4,096 = 0.09 resolution 13 bit = 2 13 = 8,192 steps 360 / 8,192 = 0.04 resolution 14 bit = 2 14 = 16,384 steps 360 / 16,384 = 0.02 resolution Absolute encoder resolution is defined by the number of bits in the output word. See corresponding table below. 8-bits absolute positions. 9-bits absolute positions. 10-bits absolute positions. 11-bits absolute positions. 12-bits absolute positions. 13-bits absolute positions. 14-bits ,384 absolute positions. 15-bits ,768 absolute positions. 16-bits ,536 absolute positions. C4

68 Kübler by TURCK Absolute Encoders Output Codes Gray Code is a single step code where one bit changes at a time from one position to the next. This code type is very reliable. It is also the base code for all Kübler by TURCK absolute encoders. Gray excess code is used for non-based binary numbers like 360, 720, 1000 etc. The calculations are made inside the encoder in the ASIC and are inputted to a control configured to read Gray excess codes. Binary code can be processed very simply by computer systems. Gray code inside the encoder is converted via the ASIC to binary code. Binary codes have more than one bit transition for each position change. For this reason, optical systems using binary code may cause occasional transition errors. In most applications this does not present a problem due to the absolute nature of the encoder and the position is normally corrected. Bits Binary Gray BCD Binary Binary Coded Decimal (BCD) C5

69 Gray Traditional multiturns were manufactured using gear stages to track the turns. This is similar in design and construction to original watch technology. Traditional Geared Multiturn Code discs Multiturn encoder Absolute Gears 16:1 Code discs Gear Traditional Electronic Multiturn Over time it was recognized that gears have inherent challenges which must be compensated for such as size, complexity, reliability, functionality and cost. The electronic multiturn was developed to overcome many of these challenges. Traditional electronic multiturns constructed using incremental technology and onboard counters are used to track position. A battery is used to back up the system. This technology is highly sensitive to radiated noise and battery problems. Code disc Electronic evaluation circuitry for the Multiturn C6

70 Kübler by TURCK Absolute Encoders New Electronic Programmable Multiturn Kübler by TURCK s new patented Intelligent Sensing Technology (IST ) low resistance technology offers many advantages over traditional geared and electronic multiturns, including: Programmable LED Higher operating speeds High noise immunity Gray Code Disc Mask Higher reliability Higher shock and vibration Optics Improved thermal shock specifications Lower profile ASIC Lower parts count Triple redundant count systems for safety Longer life Battery life which exceeds MTBF of the electronic & mechanical components More economical Output Gray, Excess Gray, Binary, BCD, Analog, SSI, Bus (RS485, CanOpen, Profibus, DeviceNet) During normal operation an absolute encoder disc and system measure the position of the encoder in the first turn (Up to 8192 positions). A triple redundant counting system counts and tracks the number of turns (up to 4196 turns). For reliability and safety purposes, the multiturn system is designed so that each counting system compares its output internally to the other two. Then the entire output is compared to a target bit pattern which determines in advance where the encoder should be. If errors are detected, the system automatically makes corrections and continues counting. If errors persist due to EMI or component failures, the system continues to output position data while simultaneously indicating a fault on one of the output pins. During power off conditions the encoder goes into a sleep mode. During the sleep mode the encoder only draws enough current to maintain the count position. In this case it draws only a few micro amps and thus the battery life exceeds that of the other components in the system. As a general rule we use a minimum of 10 years for the battery life. However calculated, battery life is in excess of 75 years. Once the encoder begins to turn it is awakened and the system begins to count. This is true in both power on and power off conditions. The result is highly reliable absolute encoder system. Kübler IST Intelligent Sensing Technology Traditional Technology C7

71 Intelligent Sensing Technology IST Electronic Multiturn Circuitry Absolute General Description of the Ezturn Software: Ezturn is a programming tool for all of Kübler's new electronic multi-turn encoders. The encoders are preset with the default values given in the data sheet and the order key. The purchase of a programming set allows customers to program the encoder. The customer can tailor the encoder default settings to specific applications or use the software for diagnosis. All configurations can be saved. Each Kübler by TURCK electronic multiturn is fully programmable using our Ezturn windows driven software and a personal computer. It has wide versatility and functionality including the following programmable parameters: Resolution Number of turns Total resolution Code Type Direction of rotation Offsets Zero Set points Alarms Diagnostics C8

72 Kübler by TURCK Absolute Encoders Outputs Parallel Outputs provide one data line for each bit. For example, the 4-bit (2 4 ) 16 position encoder would have 4 data lines (wires). A 10-bit (2 10 ) would have 10 data lines (wires). MSB - This is the most significant bit. It is typically the inner or last track of the code disc. Inverting the MSB changes the counting direction. LSB - This is the least significant bit. It is typically the first track on the code disk. Direction (VR): As a standard, absolute encoders deliver increasing code values when the shaft is rotated clockwise. The direction of the counting can be changed by connecting the VR (direction) control pin to +VDC supply voltage. Zero (set): The encoder "zero" position (home) can be reset at any time by connecting the set (zero) control pin to +VDC supply voltage. Latch (LH): The position data can be "frozen" by connecting the LH (latch) control pin to +VDC supply voltage. If this is activated continued turning of the shaft will not affect the "frozen" data word. Analog Outputs The model T absolute encoder offers a 4-20 ma output which is directly proportional to its absolute position. (i.e. 4 ma = 0, 20 ma = 350 ) Serial Outputs RS422 Full Duplex - RS 422 enables data transmission in one direction per wire pair. One wire pair is used for data transmission (TXD+ and TXD-). The other wire pair is used for receiving data (RXD+ and RXD-). ESC commands are used for system configuration and communication. TXD + TXD - RXD + R t RS 422 RS 422 R t RXD + RXD - TXD + RXD - TXD - C9

73 RS485 Half Duplex - RS 485 enables communication in both directions via one wire pair, however, communication cannot take place in both directions at the same time. Communication is achieved via handshaking where the MASTER requests data from the SLAVE. Here a simple 485 bus system may be configured. A 485 bus system is capable of up to 32 devices on a single loop. ESC commands are used for system configuration and communication. Absolute C10

74 Kübler by TURCK Absolute Encoders Synchronous Serial Interface SSI Compared to the parallel interface, the SSI interface needs fewer components and the EMC-characteristics are much better. In addition, fewer wires are needed for transmission and the possible cable length is much longer. Absolute Single Turn Encoders Absolute Multiturn Encoders At rest, the clock and data lines are on high. The first trailing pulse edge of the clock line signals the start of data transmission. The data are transmitted in bits, starting with the MSB with the leading pulse edges after that. Transmission of a complete data item requires n + 1 leading pulse edges (n = resolution in bits). After the last positive-going clock signal the data line stays on low until the encoder is ready for a new data item. The clock line must stay on high for at least as long and after that can start as new read-out sequence with a trailing edge. Please note: The data are updated synchronously with the read-out cycle. Clock (+T) Data (+D) Typical values: t1 1 µs t2 < 0.5 µs (without cable) t3 = max. 40 µs 2 µs T 10 µs n = resolution in bits The data are therefore as current as the temporal distance between two read-outs; periodic read-out of the encoder is therefore recommended. After a long break in read-out and with the encoder simultaneously turning the shaft, the data content may be out of date by the time of the first read-out and should be ignored. C11

75 Cable Length Depending on the desired output circuit we recommend following cable lengths: Interface and Output Circuit Maximum Cable Length Connected to: Parallel CMOS/TTL 2 meters PLC/PC Parallel push-pull 100 meters PLC/PC SSI up to 1200 meters PLC/PC RS 422 /RS 485 >50 meters (depending on frequency) Notes: In areas with strong electrical noise the maximum cable lengths indicated above may need to be reduced. Always use shielded cables. The wire diameter should be 0.14 mm 2 (26 AWG). Absolute Integrated Technology Each Kübler by TURCK absolute encoder has been designed using Integrated Technology whereby a single board method of construction and one custom ASIC is used in the construction of the encoder. This provides an efficient and rugged design offering benefits such as low current consumption, low internal heating, high resistance to radiated noise, lower parts count, elimination of adjustable potentiometers, higher reliability and the highest specifications for shock and vibration on the market today. In many cases we can withstand up to 250 gs of shock (per DIN-IEC ). See specific models for details. Kübler Integrated Technology Traditional Technology Potentiometers Many ICs PCB-PCB Connectors C12

76 Kübler by TURCK Absolute Encoders Type T Absolute Single Turn Shaft Encoder Resolution Up to 14-bits (16,384 positions) SSI; Parallel; Gray, Analog 4-20 ma M12 eurofast, M23 multifast, and MS Connectors Patented Integrated Technology Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration 250 gs High Noise Immunity Reverse Polarity Protection Available ISO 9001 Specifications Protection IP 66 with shaft seal standard (IP 65 without shaft seal). Speed Up to 12,000 RPM (3000 RPM with shaft seals) Operating Temperature -20 C to +90 C (-4 F to +194 F) Shaft Load - Radial 40 lbs. (higher bearing loads use bearing box accessory P/N ) Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 2500 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque (max.) 1.4 oz./in. (<0.01 Nm), 2.8 oz./in. (<0.02 Nm) with shaft seal Interface Synchronous Serial SSI Synchronous Serial SSI Parallel Parallel Supply Voltage (+V) 5 VDC (±5%) VDC 5 VDC (±5%) VDC Output Driver RS485 (MAX491) RS485 (MAX491) Push-pull (TLE2142) Push-pull (TLE2142) Current Consumption (Typ./max.) 89 ma / 138 ma 89 ma / 138 ma 109 ma / 169 ma 109 ma / 169 ma Load / Channel max. ±20 ma max. ±20 ma max. ±10 ma max. ±10 ma Word Update Frequency 15 khz (max.) 15 khz (max.) 40 khz (max.) 40 khz (max.) SSI Pulse Rate (min./max.) 100 khz / 500 khz 100 khz / 500 khz - - Signal Level High 3.8 VDC 3.8 VDC 3-4 VDC min. min. +V V Signal Level Low (I load = 20 ma) I load = 10 ma I load = 1 ma VDC max. 0.3 VDC max VDC max. - Rise Time tr without Cable 100 ns max. 100 ns max. 0.2 us max. 1 us max. Fall Time tr without Cable 100 ns max. 100 ns max. 0.2 us max. 1 us max. Short-circuit Proof 1) Yes Yes 2) Yes Yes Reverse Polarity Protection No Yes No Yes 1) When supply voltage correctly applied +V. 2) Only one channel at a time: (when +V = VDC, short circuit to common is permitted) C13 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

77 Type T Absolute Industrial Shaft Encoder Interface 4-20 ma 4-20 ma Supply Voltage (+V) Sensor 5 VDC (±5%) VDC Current Consumption (Typ./Max.) 70 ma / 84 ma 70 ma / 84 ma Word Change Frequency 15 khz (max.) 15 khz (max.) Supply Voltage (Current Loop) VDC VDC Max. Input Resistance of the Input Circuit 200 Ω 200 Ω Measuring Range Max. Error ±2 arc seconds ±2 arc seconds Resolution 13-bit 13-bit Build-up Time 2 ms max. 2 ms max. Temperature Coefficient 0.1 C/10 K 0.1 C/10 K Current if Detector Error 3.5 ma 3.5 ma Short-circuit Proof Yes Yes Reverse Polarity Protection No Yes Absolute Note: Sensor and current loop galvanically isolated. Code Type and Divisions Division Order Code Order Code Order Code Order Code Order Code Order Code Parallel Gray/Gray excess Parallel Binary Parallel BCD SSI gray SSI binary Analog E02 B02 D E03 B03 D E05 B05 D E07 B07 D E09 B09 D E01 B01 D (10-bit) G10 B10 D10 G10 B E12 BA2 DA E14 BA1 DA E18 B18 D E20 B20 D E25 B E28 B E36 B E40 B (12-bit) G12 B12 G12 B E50 B E72 B (13-bit) G13 B13 G13 B13 G (14-bit) G14 B14 G14 B14 C14

78 Kübler by TURCK Absolute Encoders Type T Absolute Industrial Shaft Encoder Standard Wiring / Pin Configuration SSI Interface (M23-12-pin, M12-8-pin or cable) Output Common +V +Clock - Clock +Data - Data ST VR NC NC NC NC Coupling Nut Pin Case Ground Color WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Parallel Output (M23-17-pin) Output Common +V VR/ST VR/LH Coupling Nut Pin Case Ground Parallel Interface, 14-bits, 2 Options (Cable Version) Output Common +V ST/VR VR/LH 14 N/C Color WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU WH/GN BN/GN WH/YE YE/BN WH/GY GY/BN N/C Parallel Output (Cable) Output Common +V NC NC I+ I- ST VR NC NC NC NC Coupling Nut Color WH BN GN YE GY PK BU RD SSI Interface (MS 10-pin) Output Common +V +Clock - Clock +Data - Data ST VR NC Shield Pin A B C D E F G H I J C15 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

79 T with 63.5 mm (2.5 ) Square Flange Type T Absolute Industrial Shaft Encoder Radial Connection Axial Connection M12 Pinout M23 Pinout MS Pinout (10-Pin) Absolute Axial Connector - Inches (mm) Connection Style DIM Cable M12 M23 MS (10-pin) A (40.0) (40.0) (40.0) (65.0) B (57.0) 2.382(60.5) 3.504(89.0) Radial Connector - Inches (mm) Connection Style DIM Cable M12 M23 MS (10-pin) C (40.5) (38.0) (38.0) (43.0) D (55.0) (55.0) (55.0) (65.0) E (76.0) 3.182(80.8) 3.209(83.0) Note: See page C31 for flange and connector options. Part Number Key T X X X X. XXX. X. Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 mm M = Square flange 63.5 mm (2.5 ) P = Servo flange 63.5 mm (2.5 ) S = Servo flange 66.5 mm (2.62 ) Z = Square flange 63.5 mm (2.5 ) w/shaft seal Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm B = 1/4 x 7/8 P = 3/8 x 7/8 Input / Output Circuit 1 = 5 VDC / SSI 2 = VDC / SSI 3 = 5 VDC / parallel 4 = VDC / parallel 7 = 5 VDC / 4-20 ma 8 = VDC / 4-20 ma Connection Type Options 2 = Set and VR* 3** = Set and latch* 4** = VR* and latch Code Type and Division See page C14 1 = Axial cable (PVC, 1 meter) 2 = Radial cable (PVC, 1 meter) 3 = Axial 12 or 17-pin, M23* 5 = Radial 12 or 17-pin, M23* W = Axial 8-pin, M12 (eurofast) S = Radial 8-pin, M12 (eurofast) Alarm output on request * Parallel 14-bits, 17-pin, M23 connector ** Available with parallel outputs only Z = Axial MS, 10-pin (MS 3102R18-1P) Y = Radial MS, 10-pin (MS 3102R18-1P) TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C16

80 Kübler by TURCK Absolute Encoders Type T Absolute Industrial Hollowshaft Encoder Resolution Up to 14-bits (16,384 positions) SSI; Parallel; Gray, Binary, and BCD M12 eurofast and M23 multifast Connectors Patented Integrated Technology Temperature and Aging Compensation Short-circuit Protection High Shock and Vibration 250 gs High Noise Immunity Reverse Polarity Protection Available Stainless Steel Housing Available ISO 9001 Specifications Protection IP 66, with shaft seal standard (IP 65 without shaft seal). Speed Up to 12,000 RPM (6000 RPM with shaft seals) Operating Temperature -20 C to +90 C (-4 F to +194 F) (without shaft seal) Operating Temperature (with seal) -20 C to +85 C (-4 F to +185 F) Shock / Vibration 2500 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN-IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque (max.) 7 oz.-in. (<0.05 Nm) IP 66 Interface Synchronous Serial SSI Synchronous Serial SSI Parallel Parallel Supply Voltage (+V) 5 VDC (±5%) VDC 5 VDC (±5%) VDC Output Driver RS485 (MAX491) RS485 (MAX491) Push-pull (TLE2142) Push-pull (TLE2142) Current Consumption (Typ./max.) 89 ma / 138 ma 89 ma / 138 ma 109 ma / 169 ma 109 ma / 169 ma Load / Channel max. ±20 ma max. ±20 ma max. ±10 ma max. ±10 ma Word Update Frequency 15 khz (max.) 15 khz (max.) 40 khz (max.) 40 khz (max.) SSI Pulse Rate (min./max.) 100 khz / 500 khz 100 khz / 500 khz - - Signal Level High 3.8 VDC 3.8 VDC 3.4 V min. min. +V 2.8 VDC Signal Level Low (I load = 20 ma) I load = 10 ma I load = 1 ma V max. 0.3 V max V max. - Rise Time tr without Cable 100 ns max. 100 ns max. 0.2 µs max. 1 µs max. Fall Time tr without Cable 100 ns max. 100 ns max. 0.2 µs max. 1 µs max. Short-circuit Proof 1) Yes Yes 2) Yes Yes Reverse Polarity Protection No Yes No Yes 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted C17 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

81 Type T Absolute Industrial Hollowshaft Encoder T M12 Pinout M23 Pinout Absolute Note: See page C32 for flange and connector options. Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key T X X X X. XXX. X. Flange 1 = Through shaft, torque stop 2 = Blind shaft, torque stop 3 = Through shaft, flex bracket 4 = Blind shaft, flex bracket Bore Dimension 6 = 10 mm M = 6 mm N = 8 mm R = 1/4 P = 3/8 Options See page C19 Connection Type 2 = Set* and VR 3** = Set and latch* 4** = VR* and latch Code Type and Division 1 = Radial cable (PVC, 1 meter) 2 = Radial 12 or 17-pin, M23 (multifast)* R = Radial 8-pin, M12 (eurofast) Alarm output on request * Parallel 14-bits, 17-pin M23 collector ** Available with parallel outputs only * Determined by bit size Input / Output Circuit 1 = 5 VDC / SSI 2 = VDC / SSI 3 = 5 VDC / parallel 4 = VDC / parallel TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C18

82 Kübler by TURCK Absolute Encoders Type T Absolute Industrial Shaft Encoder Code Type and Divisions Division Bit Order Code Order Code Order Code Order Code Order Code Parallel Gray/Gray excess Parallel binary Parallel BCD SSI Gray SSI binary E02 B02 D E03 B03 D E05 B05 D E07 B07 D E09 B09 D E01 B01 D G10 B10 D10 G10 B E12 BA2 DA E14 BA1 DA E18 B18 D E20 B20 D E25 B E28 B E36 B E40 B G12 B12 G12 B E50 B E72 B G13 B13 G13 B G14 B14 G14 B14 Note: Standard divisions are in bold text. C19 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

83 Type T Absolute Industrial Shaft Encoder Standard Wiring / Pin Configuration SSI Interface (M23-12-pin, M12-8-pin or Cable) Output Common +V +Clock - Clock +Data - Data ST VR NC NC NC NC Coupling Nut Pin Case Ground Cable WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Parallel Output (M23-17-pin) Output Common +V VR/ST VR/LH Coupling Nut Pin Case Ground Absolute Parallel Output (Radial Exit Cable) Output Common +V ST/VR VR/LH 14 NC Color WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU WH/GN BN/GN WH/YE YE/BN WH/GY GY/BN NC TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C20

84 Kübler by TURCK Absolute Encoders Type T Stainless Steel Absolute Industrial Hollowshaft Encoder Resolution Up to 14-bits (16,384 positions) SSI; Parallel; Gray, Binary, and BCD M12 eurofast and M23 multifast Connectors Patented Integrated Technology (see page B4) Temperature and Ageing Compensation Short-circuit Protection High Shock and Vibration 250 gs High Noise Immunity Reverse Polarity Protection Available IP 66 ISO 9001 Specifications Protection IP 66 (with shaft seal standard) Speed 6000 RPM Operating Temperature -20 C to +85 C (-4 F to +185 F) Shock / Vibration 2500 m/s 2 (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Housing / Shaft 316 stainless steel / 316 stainless steel Starting Torque (max.) 7 oz.-in. (<0.05 Nm) Interface Synchronous Serial SSI Synchronous Serial SSI Parallel Parallel Supply Voltage (+V) 5 VDC (±5%) VDC 5 VDC (±5%) VDC Output Driver RS485 (MAX491) RS485 (MAX491) Push-pull (TLE2142) Push-pull (TLE2142) Current Consumption (type./max) 89 ma / 138 ma 89 ma / 138 ma 109 ma / 169 ma 109 ma / 169 ma Load / Channel max. ±20 ma max. ±20 ma max. ±10 ma max. ±10 ma Word Update Frequency 15 khz (max.) 15 khz (max.) 40 khz (max.) 40 khz (max.) SSI Pulse Rate min./max. 100 khz / 500 khz 100 khz / 500 khz - - Signal Level High 3.8 VDC 3.8 VDC 3.4 V min. min. +V 2.8 VDC Signal Level Low (I load = 20 ma) I load = 10 ma I load = 1 ma V max. 0.3 V max V max. - Rise Time tr without Cable 100 ns max. 100 ns max. 0.2 us max. 1 us max. Fall Time tr without Cable 100 ns max. 100 ns max. 0.2 us max. 1 us max. Short-circuit Proof 1) Yes Yes - one channel 2) Yes Yes Reverse Polarity Protection No Yes No Yes 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = 5 VDC, short-circuit to common or +V is permitted (when +V = VDC, short-circuit to common is permitted) C21

85 Type T Stainless Steel Absolute Industrial Hollowshaft Encoder T M12 Pinout M23 Pinout Absolute Note: See page C31 for flange and connector options. Cable direction for right angle M12 cordset is parallel to hollowshaft. Part Number Key Flange 1 = Through shaft, torque stop 2 = Blind shaft, torque stop 3 = Through shaft, flex bracket 4 = Blind shaft, flex bracket T X X X X. XXX. X. Options 2 = Set* and VR 3** = Set and latch* 4** = VR* and latch Alarm output on request * Parallel 14-bits, 17-pin M23 collector ** Available with parallel outputs only Bore Dimension 6 = 10 mm M = 6 mm N = 8 mm R = 1/4 P = 3/8 Input / Output Circuit 1 = 5 VDC / SSI 2 = VDC / SSI 3 = 5 VDC / parallel 4 = VDC / parallel Code Type and Division See page C23 Connection Type 1 = Radial cable (PVC, 1 meter) 2 = Radial 12 or 17-pin, M23 (multifast) R = Radial 8-pin, M12 (eurofast) C22

86 Kübler by TURCK Absolute Encoders Type T Stainless Steel Absolute Industrial Shaft Encoder Code Type and Divisions Division Bit Order Code Order Code Order Code Order Code Order Code Parallel Gray/Gray excess Parallel binary Parallel BCD SSI Gray SSI binary E02 B02 D E03 B03 D E05 B05 D E07 B07 D E09 B09 D E01 B01 D G10 B10 D10 G10 B E12 BA2 DA E14 BA1 DA E18 B18 D E20 B20 D E25 B E28 B E36 B E40 B G12 B12 G12 B E50 B E72 B G13 B13 G13 B G14 B14 G14 B14 Note: Standard divisions are in bold text. C23

87 Type T Stainless Steel Absolute Industrial Shaft Encoder Standard Wiring / Pin Configuration SSI Interface (M23-12-pin, M12-8-pin or Cable) Output 0 V +V +Clock - Clock +Data - Data ST VR NC NC NC NC Coupling Nut Pin Case Ground Color WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU Parallel Output (M23-17-pin) Output Common +V VR/ST VR/LH Coupling Nut Pin Case Ground Absolute Parallel Output (Radial Exit Cable) Output Common +V ST/VR VR/LH 14 N/C Color WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU WH/GN BN/GN WH/YE YE/BN WH/GY GY/BN N/C C24

88 Kübler by TURCK Absolute Encoders Type T Absolute Multiturn Shaft Encoder Resolution up to 24-bits (4096 x 4096) SSI (Gray, Binary); Parallel; (Gray, Binary) Mechanical Geared Multiturn Short-circuit and Reverse Polarity Protection "IST" Intelligent Sensing Technology ISO 9001 Specifications Protection IP 66 (with shaft seal standard) Speed Up to 10,000 RPM Operating Temperature -20 C to +65 C (-4 F to +149 F) Shaft Load - Radial 19 lbs. (higher bearing loads (100 lbs. radial) use bearing box accessory ) Shaft Load - Axial 19 lbs. Shock / Vibration 1000 m/s 2 (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight oz. (0.35 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz.-in. (<0.01 Nm) 2.8 oz.-in. with shaft seal (<0.02 Nm) Interface Synchronous Serial SSI (Gray, Binary) 12 x 12-bits Parallel (Gray, Binary) 12 x 12-bits Supply Voltage (+V) VDC VDC Output Driver RS 422 (MAX491) Push-pull TLE2142 Current Consumption (max.) 66 ma 167 ma Load / Channel max. ±20 ma max. ±30 ma Word Update Frequency 10 khz (max.) 10 khz (max.) SSI Pulse Rate min./max. 100 khz / 400 khz - Signal Level High 2.5 VDC min. +V -3 VDC Signal Level Low (I load = 20 ma) 0.5 VDC 2 VDC max. Rise Time tr without Cable 100 ns max. 250 ns max. Fall Time tr without Cable 100 ns max. 250 ns max. Short-circuit Proof 1) Yes - one channel 2) Yes Reverse Polarity Protection Yes Yes 1) When supply voltage correctly applied. 2) Only one channel at a time: (when +V = VDC, short-circuit to common is permitted) Standard Wiring / Pin Configuration SSI Interface (M23-12-pin, Cable Version) Output Common +Data + Clock NC VR NC NC +V NC - Data - Clock ST Coupling Nut Pin Case Ground Color BN PK YE - BU - - WH - GY GN BK C25 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

89 Standard Wiring / Pin Configuration Parallel Interface (37-pin - SUB D Output OV S0 S2 S4 S6 S8 S10 M0 M2 Dir - Tristate Type T Absolute Multiturn Shaft Encoder VDC M4 M6 M8 M10 Alarm - Pin Color BU BR YE PK GY/PK WH/GN WH/YE WH/GY WH/PK YE/PK - YE/BU RD WH/BU WH/RD WH/BK GY/GN PK/GN - Output 0 V S1 S3 S5 S7 S9 S11 M13 M3 - Latch VDC - Latch VDC M9 M11 - Pin Color BK GN GY VT RD/BU BN/GN YE/BN GY/BN PK/BN - GN/BU - BN/BN BN/BN BN/RD BN/BK YE/GY - T Radial Connection Axial Connection M23 Pinout Absolute 37-pin Sub D Pinout Pin 1 Pin 19 Note: See page C31 for flange and connector options. Pin 20 Pin 37 Part Number Key T X X X X. X Flange 12 = Clamping flange - 10 mm 21 = Servo flange - 6 mm Input / Output Circuit 2 = VDC / SSI 3 = VDC / parallel Connection Type 5 = Radial M23, 12-pin 6 = Radial cable, (PVC, 1.5 meter) 7 = Axial cable, (PVC, 1.5 meter) 8 = 37-pin sub D (PVC, 0.1 meter) Division Code Type G = Gray B = Binary Options 1 = No options 22 = 24-bit (4096 positions x 4096 turns) TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C26

90 Kübler by TURCK Absolute Encoders Type T Absolute Programmable Multiturn Shaft Encoder Resolution up to 25-bits (13 x 12) Electronic, Programmable Multiturn - Parameters Include: Code Type, Resolution, Revolutions, Directions Set Points, Alarms and Zero SSI (Gray, Binary), RS485 and RS422 IST Intelligent Sensing Technology Shock Resistant to 250 gs Short-circuit Protection and Reverse Polarity Protection Optional 2048 PPR Incremental Output (SSI model) ISO 9001 Specifications Protection IP 66 with shaft seal standard (IP 65 without shaft seal) Speed Up to 6,000 RPM Operating Temperature -20 C to +80 C (-4 F to +176 F) Shaft Load - Radial 40 lbs. (higher bearing loads (100 lbs. radial) use bearing box accessory P/N ) Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 2500 m/s 2 (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque (max.) 1.4 oz.-in. (<0.01 Nm) IP 65, 2.8 oz.-in. (<0.02 Nm) IP 66 Specifications for RS422, RS485 Interface Synchronous Serial SSI (Gray, Binary) 13 x 12 bits 1) When supply voltage correctly applied. 2) Only one channel at a time: when +V = 5 VDC, short-circuit to common and +V is permitted. when +V = VDC, short-circuit to common is permitted. Interface Synchronous Serial SSI (Gray, Binary) 13 x 12 bits Supply Voltage (+V) 5-30 VDC Signal Level High 3.8 VDC Output Driver RS485 (MAX491) Signal Level Low (I load = 20 ma) 1.3 VDC Current Consumption 89 ma / 138 ma Rise Time without Cable (typ./max.) 100 ns max. Load / Channel Max. ±20 ma Fall Time without Cable 100 ns max. Word Update Frequency 1.6 khz (max.) Short-circuit Proof 1) Yes - one channel 2) SSI Pulse Rate min./max. 100 khz / 400 khz Reverse Polarity Protection Yes Standard Wiring / Pin Configuration SSI Interface with Incremental Track (A,B): (M23-12-pin) Output Common +V Clock+ Clock- Data+ Data- ST VR B B A A Ground Pin PH * Data channels +5 VDC SSI Interface with 12-pin or Cable Output Common +V +Clock - Clock +Data - Data ST VR A1 A2 A3 A4 Coupling Nut Pin Case Ground Cable WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU A1, A2, A3, A4: outputs, programmable with Ezturn. C27 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

91 Type T Absolute Programmable Multiturn Shaft Encoder RS 485 (M23-12-pin, Cable, M12 8-pin) Output Common +V -R/T +R/T NC NC ST* VR NC NC NC NC Coupling Nut Pin Case Ground Cable WH BN GN YE RD * The set function is only available with ESC command not via input pin. T with 63.5 mm (2.5 ) Square Flange Radial Connection Axial Connection Absolute Note: See page C31 for flange and connector options. Part Number Key T X X X X. XXXX. Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 mm 4 = Square flange 63.5 mm (2.5 ) 5 = Servo flange 63.5 mm (2.5 ) 6 = Square flange 63.5 mm (2.5 ) w/shaft seal Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm 3 = 1/4 x 7/8 4 = 3/8 x 7/8 Input / Output Circuit 1 = 5-30 VDC / RS422, full duplex 2 = 5-30 VDC / SSI 3 = 5-30 VDC / RS485, half duplex 5 = 5-30 VDC / SSI / PPR incremental output (A, A, B, B) Interface 1001 = RS 422, full duplex protocol, ESC code 1002 = RS 422, full duplex protocol, AWG = SSI, 4096 x 4096 (binary) 2002 = SSI, 8192 x 4096 (binary) 2004 = SSI, 8192 x 4096 (gray) 3001 = ESC RS 485, half duplex protocol (max baud) Note: Programming available on request Connection Type 1 = Axial cable (PVC, 1 meter) 2 = Radial cable (PVC, 1 meter) 3 = Axial 12-pin, M23 4 = Radial 12-pin, M23 7 = Axial cable (PVC, 3 meter) 8 = Radial cable (PVC, 3 meter) L = Axial 8-pin, M12 (eurofast) M = Radial 8-pin, M12 (eurofast) TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C28

92 Kübler by TURCK Absolute Encoders Type T Absolute Programmable Multiturn Hollowshaft Encoder Resolution up to 25-Bits (13 x 12) Electronic, Programmable Multiturn - Parameters Include: Code Type, Resolution, Revolutions, Directions, Set Points, Alarms, and Zero SSI (Gray, Binary), RS485, and RS422 IST Intelligent Sensing Technology Shock Resistant to 250 gs Short-circuit Protection and Reverse Polarity Protection Optional 2048 PPR Incremental Output (SSI version) ISO 9001 Specifications Protection IP 65 with shaft seal standard Speed Up to 6000 RPM Operating Temperature -20 C to +80 C (-4 F to +176 F) Shock / Vibration 2500 m/s 2 (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque (max.) <7 oz.-in. (max), (<0.05 Nm) Specifications: SSI, RS422 - RS485 Interface Supply Voltage (UB) 5-30 VDC Signal Level High 3.8 VDC Output Driver RS485 (MAX491) Signal Level Low (I load = 20 ma) 1.3 VDC Current Consumption 89 ma / 138 ma Rise Time without Cable (typ./max.) 100 ns max. Load / Channel Max. ±20 ma Fall Time without Cable 100 ns max. Word Update Frequency 1.6 khz Short-circuit Proof 1) Yes 2) - one channel SSI Pulse Rate min./max. 100 khz / 500 khz Reverse Polarity Protection Yes 1) When +V supply voltage correctly applied. 2) Only one channel at a time: when +V = 5 VDC, short-circuit to channel, 0 VDC, and +V is permitted. when +V = VDC, short-circuit to channel, 0 VDC is permitted). * Data channels +5 VDC SSI Interface with 12-pin or Cable Synchronous Serial SSI (Gray, Binary) 13 x 12 bits SSI Interface with Incremental Track (A,B) (M23-12-pin) Output Common +V +Clock - Clock +Data - Data ST VR A1 A2 A3 A4 Coupling Nut Pin Case Ground Color WH BN GN YE GY PK BU RD BK VT GY/PK RD/BU A1, A2, A3, A4: outputs, programmable with Ezturn. Interface Synchronous Serial SSI (Gray, Binary) 13 x 12 bits Output Common +V Clock+ Clock- Data+ Data- Set VR B B A A Case Ground Pin Coupling Nut Total Indicated Runout (measuring error < bit) Switch with RS 485 Pin Configuration Mounting with Flexmount Mounting with Torque Stop Pin Pulses: Permissible axial offset Permissible radial offset Permissible radial offset up to 1024 (10 Bit) ±0.64 mm ±0.14 mm ±0.112 up to 4096 (12 Bit) ±0.16 mm ±0.02 mm ±0.028 up to 8192 (13 Bit) ±0.08 mm ±0.01 mm ±0.014 C29

93 Type T Absolute Programmable Multiturn Hollowshaft Encoder RS 485 (M23-12-pin, cable, or M12 8-pin) Output Common +V -R/T +R/T NC NC ST* VR NC NC NC NC Coupling Nut Pin Case Ground Color WH BN GN YE RD * The set function is only available with ESC command not via input pin. T with Torque Stop Flange Radial Connection Axial Connection Absolute Note: See page C31 for flange and connector options. Part Number Key T X X X X. XXXX. Flange 1 = Torque stop 3 = Flex mount Hub (set screw type) 1 = 6 mm 3 = 8 mm 6 = 10 mm 8 = 12 mm A = 1/4 B = 3/8 Input / Output Circuit Hub (Clamp type) C = 6 mm with shaft seals D = 8 mm with shaft seals E = 10 mm with shaft seals F = 12 mm with shaft seals G = 1/4 with shaft seals H = 3/8 with shaft seals 1 = 5-30 VDC / RS422, full duplex 2 = 5-30 VDC / SSI 3 = 5-30 VDC / RS485, half duplex 5 = 5-30 VDC / SSI / 2048 PPR incremental output 6 = 5-30 VDC / RS485 half duplex / 2048 PPR incremental output Connection Type Interface 1001 = RS 422, full duplex protocol, ESC code 1002 = RS 422, full duplex protocol, AWG = SSI, 8192 x 4096 (Binary) 2004 = SSI, 8192 x 4096 (Gray) 3001 = ESC RS 485, half duplex protocol (max baud) Note: Programming available on request 1 = Radial cable (PVC, 1 meter) 2 = Radial 12-pin, M23 (multifast) 4 = Radial cable (PVC, 3 meter) B = Radial 8-pin, M12 (eurofast) TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C30

94 Kübler by TURCK Absolute Encoders 2.5 (63.5 mm) Rectangular Flange w/shaft Seal T8.58XX Series Shaft Flange Options Connector Options M12 Pinout M23 Pinout (12-pin) M23 Pinout (17-pin) 2.62 (66.6 mm) Servo Flange MS Pinout (7-Pin) 2.5 (63.5 mm) Servo Flange MS Pinout (10-Pin) 2.28 (58 mm) Servo Flange (Mount to Top Hat Adapter) 2.28 (58 mm) Clamping Flange Mount to Spring Bracket C31

95 T8.58XX Series Hollowshaft Flange Options Connector Options M12 Pinout 2.83 (72 mm) Through Shaft, Flex Mount M23 Pinout (12-pin) M23 Pinout (17-pin) Absolute 2.28 (58 mm) Through Shaft (Short Torque Stop) MS Pinout (7-Pin) MS Pinout (10-Pin) Tether Arm Flex Bracket C32

96 Kübler by TURCK Absolute Encoders Type T Absolute Programmable Multiturn Large Bore Hollowshaft Encoder Specifications Resolution up to 25-Bits (13 x 12) Electronic, Programmable Multiturn - Parameters Include: Code Type, Resolution, Revolutions, Directions, Set Points, Alarms, and Zero SSI ( Gray, Binary), RS485, and RS422 Shock Resistant to 250 gs IST Intelligent Sensing Technology Short-circuit Protection and Reverse Polarity Protection Optional 2048 PPR Incremental Output (SSI version) Protection IP 65 Speed Up to 6000 RPM Operating Temperature -20 C to +80 C (-4 F to +176 F) Shock / Vibration 2500 m/s 2 (6 ms) per DIN-IEC , 100 m/s 2 (10 to 2000 Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 14 oz. (0.4 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque >7 oz.-in. (<0.05 Nm) ISO 9001 Interface Synchronous Serial SSI (Gray, Binary) 13 x 12 bits 1) When supply voltage correctly applied. 2) Only one channel at a time: when +V = 5 VDC, short-circuit to common and +V is permitted. when +V = VDC, short-circuit to common is permitted. Interface Synchronous Serial SSI (Gray, Binary) 13 x 12 bits Supply Voltage (+V) 5-30 VDC Signal Level High 3.8 VDC Output Driver RS485 (MAX491) Signal Level Low (I load = 20 ma) 1.3 VDC Current Typ. max. 89 ma / 138 ma Rise Time tr without Cable 100 ns max. Load / Channel Max. ±20 ma Fall Time tr without Cable 100 ns max. Update Rate 1600/s max. Short-circuit Proof 1) Yes - one channel 2) SSI Pulse Rate min./max. 100 khz / 500 khz Reverse Polarity Protection Yes SSI Interface with Incremental Track (A,B) (M23-12-pin) Output Common +V Clock+ Clock- Data+ Data- Set VR B B A A Case Ground Pin Coupling Nut * Data channel +5 VDC SSI Interface with (M23-12-pin) Output Common +V +Clock - Clock +Data - Data ST VR A1 A2 A3 A4 Coupling Nut Pin Case Ground A1, A2, A3, A4: outputs, with Ezturn programmable. Total Indicated Runout (measuring error < bit) Mounting with Stator Coupling Mounting with Torque Stop Pin Type of flange: Permissible axial offset Permissible radial offset Permissible angular offset Flange type 2 (short spring device): max. ±1 mm 1) max. ±0.3 mm max. ±2 Flange type 3 (long spring device): 2) Switch with RS 485 Pin Configuration max. ±0.3 mm max. ±2 Flange type 4 (mounting bracket): max. ±0.5 mm max. ±0.3 mm max. ±2 1) When mounting the encoder ensure that Lmin. is larger than the axial play of the drive. 2) If mounted properly. C33 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

97 Type T Absolute Programmable Multiturn Large Bore Hollowshaft Encoder RS 485 with 12-pin Output Common +V -R/T +R/T NC NC ST VR NC NC NC NC Coupling Nut Pin Case Ground T with Flange Options Absolute 1 = Face Mount 2 = Short Anti-rotational Spring 3 = Long Anti-rotational Spring 4 = Tether Arm (short) Part Number Key T X X X X. XXXX. Flange 1 = Face mount 2 = Short anti-rotation spring 3 = Long anti-rotation spring 4 = Tether arm (short) Shaft 1 = 12 mm 2 = 15 mm 3 = 20 mm 4 = 24 mm 5 = 28 mm 6 = 5/8 7 = 25.4 mm (1.0 ) 8 = 12 x 30 mm (shaft version) 9 = 16 mm A = 3/4 B = 1/2 Interface 3001 = ESC RS 485, half duplex protocol (max baud) 1001 = RS 422, full duplex protocol, ESC code 2001 = SSI 4096 x 4096 (Binary) 2002 = SSI, 8192 x 4096 (Binary) 2004 = SSI, 8192 x 4096 (Gray) Note: Programming available on request 1002 = Rs 422, full duplex protocol, AWG05 Connection Type 2 = Radial 12-pin, M23 (multifast) Input / Output Circuit 1 = 5-30 VDC RS422, full duplex 2 = 5-30 VDC SSI 3 = 5-30 VDC RS485, half duplex 5 = 5-30 VDC SSI, 2048 A,B 5V TTL TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) C34

98 Kübler by TURCK Bus System Encoders Notes: D1

99 Bus Systems T Housing Style Style Resolution Outputs Programmable Page Number Multiturn 13-bit (8192) per turn 12-bit (4096) per turn Profibus Yes D7 T Multiturn 13-bit (8192) per turn 12-bit (4096) per turn Profibus CanOpen Yes D9 Bus Systems D3 CANopen: General Information D3 - D4 Profibus: General Information D5 - D6 T Profibus DP Multiturn Shaft Encoder D7 T Profibus DP / CAN Open Multiturn Large Bore Hollowshaft Encoder D9 Bus Systems D2

100 Kübler by TURCK Bus System Encoders Bus Systems The use of a network of sensor-actuator bus systems has essential advantages: Reduced expenditure wiring, since all members are linked by one cable. Wide range diagnostics and programming possibility of the units. The following will contain information regarding Profibus and CAN bus systems: CAN fulfills the real time demands of the automobile industries (ABS, Airbag, Motor management). Multi-Master system. The message text (speed, position...) itself is marked by an identifier through the whole network instead of indexing the nodes. Check for importance of message. Accept or ignore network wide broadcasting. High allocation on the network. Monitoring (high reliability). Bus specification according to CAN High Speed ISO/DIN for transmission rates of up to 1 Mbaud. CANopen The version described sends its current position to another station via the "CAN-bus" transmission medium (physically: shielded and twisted two-wire line). The serial bus system CAN (Controller Area Network), which had been originally developed 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 data transfer is regulated by the message's priority. The message with the highest priority (determined by the identifier) will be received immediately. Within the CAN system there are message identifiers, but no transport addresses. The message which is being sent can be received by all stations at the same time (broadcast). By means of a special filter method the station only accepts the relevant messages which is of importance for this station. The identifier transmitted with the message is the basis for the decision as to whether the message will be accepted or not. The bus coupler is standardized according to the international standard ISO-DIS (CAN High Speed) 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 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). Until today only 11-bit identifiers have been used for CANopen. Field of Application In applications where the position of a drive or of other parts of a machine need to be recorded and signaled to the control system, the encoder can carry out this function. For instance, the encoder can resolve positioning tasks by sending the check-back signal concerning the present drive position via the CAN bus to the positioning unit. The CANopen Profile CANopen Allows for: Synchronization of the devices. Auto-configuration of the network. Comfortable access to all device parameters. 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 synchronization, time stamp, emergency message). Simultaneous data input and output. Cyclical and event-controlled process data processing. D3

101 CANopen Uses 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. Existing Profiles The following device 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 The Encoder Device Profile (CIA DSP 406) This profile describes a standardized and 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 allows 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 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. In addition, an addressable area is defined in the profile to which depending on the manufacturer, different functions can be assigned. DATA Transmission In CANopen the data is transferred by means of two different communication types (COB = Communication Object) with different features: 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 Bytes. 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 encoder's resolution). Since these parameters are transferred acyclically (e.g. only once when starting up the network), the SDO objects have a low priority (high COB identifier). Node Number The 7-bit node number is set by means of the hardware via the 6 DIP-switches on the encoder's connection PCB. Bus Systems D4

102 Kübler by TURCK Bus System Encoders Profibus: General Information The basic functions of PROFIBUS DP are only described in extracts in here. For additional information please refer to the standards on PROFIBUS DP, i.e. DIN and EN Introduction The Kübler by TURCK Profibus encoders are usually multiturn absolute encoders. The version described sends its current position to another station via the transmission medium "PROFIBUS DP" (physically: shielded and twisted pair line). The Profibus encoder supports all Class 1 and 2 functions listed in the encoder profile. PROFIBUS-DP is a standardized and binding, but manufacturer-independent definition for a variety of applications in the field of production, process and automation. The requirements of openness and independence from the manufacturer are stipulated in the European standard EN 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 optimized in terms of speed and low connection costs (central 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 functions of the PROFIBUS DP according to the EN European standard. Field of Application Encoders function in systems where the position of a drive or of any other part of a machine has to be recorded and transmitted to the control system. For instance, the encoder can resolve positioning tasks by sending the feedback signal concerning the present drive position via PROFIBUS DP to the positioning unit. Basic function of the Profibus DP System The central control system (master) cyclically reads out the input information from the slaves and transmits 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 control system (e.g. SPC, or IPC), which amounts to approximately 10 ms for several applications. Beside 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. In the following text, the basic functions of the PROFIBUS DP are summarized in short. Profibus DP Basic Functions Transmission Technology: RS-485 twisted pair line. Baud rates ranging from 9.6 kbit/s up to 12 Mbit/s. Bus Access: Monomaster or multimaster systems possible. Token passing procedure between the masters and master-slave procedures for slaves. Master and slave devices, maximum 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. Stop: only master-master data transfer is possible. Clear: The input data are read, the output data remain in the safe status. Synchronization: Control commands enable a synchronization of the input and output data. Sync mode: Output data are being synchronized. D5

103 Functionality: Address assignment for the DP slaves via the bus. Cyclical user data transfer between DP master and DP slave(s). Configuration of the DP master (DPM1) via the bus. Single DP slaves are dynamically activated or deactivated. Control of the DP slaves configuration. Powerful diagnostic functions, 3 stepped diagnostic message levels. Maximum of 246 byte input and output data per DP slave possible. Synchronization of in- and/ or output. Protection Functions: Access protection of the DP slaves input/output. All messages are transferred with a hamming distance of HD = 4. Response control at the DP slaves. 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 analog input/output, drives, valves. Diagnostic Function: The extensive diagnostic functions of PROFIBUS DP allow a quick localization of possible errors. The diagnostic messages are transmitted by means of the bus and are joined together at the master. System Performance: To ensure a high level of exchangeability between the devices the system performance of PROFIBUS DP has also been standardized. It is mainly determined by the operational status of the DPM1. The DPM1 can either be controlled locally or via the bus by the project planning device. The following three main states are available: 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. After an error has occurred during the data transfer phase of the DPM1, like the example, the failure of a DP slave, the response of the system is determined by the operating parameter "Auto Clear". 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. 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 decision. 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. 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 are in- or excluded from the user data communication. The data traffic between the DPM1 and the DP slaves is subdivided in three phases: parameterization, configuration, and data transfer. Before including a DP slave in the data transfer phase, the DPM1 checks during the parameterization 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. Due to this check, it is ensured that the parameterization is reliable and correct at the end. In addition to the user communication, which is automatically executed by the DPM1 the user can request the new parameterization data to be sent to the DP slaves. Bus Systems D6

104 Kübler by TURCK Bus System Encoders Type T Profibus DP / DeviceNet / CANopen Profibus DP / CANopen / DeviceNet Resolution up to 25-Bits (13 x 12) Programmable - Parameters Include: Resolution, Revolutions, Direction, Preset, Diagnostics, Zero Shock Resistant to 250 gs Short-circuit Protection and Reverse Polarity Protection Integrated T Coupling and Termination Resistor ISO 9001 Specifications Protection IP 65, IP 66 with shaft seal Speed Up to 6,000 RPM Operating Temperature -20 C to +85 C (-4 F to +185 F) Shaft Load - Radial 40 lbs. (higher bearing loads (100 lbs. radial) use bearing box accessory P/N Shaft Load - Axial 40 lbs. (higher bearing loads on request) Shock / Vibration 2500 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 ( Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 24 oz. (0.4 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque 1.4 oz./in. (<0.01 Nm) IP 65, 2.8 oz./in. (<0.02 Nm) IP 66 Bus System Profibus DeviceNet CANopen Supply Voltage (+V) VDC VDC VDC Current (Typ.) 0.29 A 0.29 A 0.29 A Recommended Fuse T A T A T A Linearity ±1/2 LSB (±1 LSB at 13, 14 or 25, 26-bit res.) ±1/2 LSB (±1 LSB at 13, 14 or 25, 26-bit res.) ±1/2 LSB (±1 LSB at 13, 14 or 25, 26-bit res.) Code Binary Binary Binary Interface RS485 RS485 RS485 Protocol Profibus DP encoder profile class 2 DeviceNet 2.0 protocol CANopen Encoder profile DSP 406 Rate 12 Mbits/s max. Programmable over the bus DeviceNet programmable Kbits/s Programmable over the bus or via DIP switches CANopen programmable Kbits/s Programmable over the bus or via DIP switches Address Adjustable with DIP switches Adjustable with DIP switches Adjustable with DIP switches MAC ID Preset to 63 Terminating Resistor Built in, DIP Switch selectable Built in, DIP Switch selectable Built in, DIP Switch selectable Profibus Encoder Profile The basic functions of the PROFIBUS DP are described in the Introduction Section. For additional information, please refer to the standards on PROFIBUS DP, i.e. DIN and EN respectively. Disc with GSE file is provided with the encoder or available on the TURCK website. DeviceNet Encoder Profile The DeviceNet Device Profile describes the functionality of the communication of the DeviceNet fieldbus system specific to the manufacturer. The Encoder Profile applies to the encoders and defines the individual objects independently of the manufacturer. In addition the profile makes provision for additional extended functions specific to the manufacturer. The device can function in Polled mode, Cyclic mode, Change of State mode (COS), Combination of Polled and Cyclic mode or Combination of Polled and COS mode. Disc with EDS file is provided with the encoder or available on the TURCK website. CANopen The CANopen Device Profiles describe the functionality of the communication of the CANopen fieldbus system specific to the manufacturer. Device Profile 406 applies to encoders and defines the individual objects independently of the manufacturer. In addition the profile makes provision for additional extended functions specific to the manufacturer. Disc with EDS file is provided with the encoder or available on the TURCK website. D7

105 Type T Profibus DP T with Square Flange CANopen/ DeviceNet (1) Female 5-pin (3) Male 5-pin Profibus Terminal Assignment with Terminal Box Profibus M12: BUS In (1) Output ENC BUS In BUS Out ENC Output - BUS-A - BUS-B - +VDC GND GND B A A B GND GND +VDC Pin Pin Profibus M12: Supply Voltage (2) Profibus M12: BUS Out (3) Output +V - Common - Output BUS VDC BUS-A BUS GND BUS-B Shield Pin Pin Profibus DP (1) Female 5-pin (Reverse) (2) Male Bus Systems CANopen Terminal Assignment with Terminal Box Output ENC BUS In BUS Out ENC +VDC GND GND CAN_H CAN_L CAN_L CAN_H GND GND +VDC Pin pin (3) Male CANopen / DeviceNet M12: BUS In (Female) (1) Output Drain +VDC -VDC CAN_H CAN_L Pin CANopen / DeviceNet M12: BUS Out (Male) (2) Output Drain +VDC -VDC CAN_H CAN_L Pin pin (Reverse) Part Number Key T X X X X. XXXX Flange 1 = Clamping flange 58 mm 2 = Servo flange 58 mm 4 = Square flange 63.5 mm (2.5 ) 5 = Servo flange 63.5 mm (2.5 ) 6 = Square flange 63.5 mm (2.5 ) w/shaft seal Shaft 1 = 6 mm x 10 mm 2 = 10 mm x 20 mm 3 = 1/4 x 7/8 4 = 3/8 x 7/8 * Includes GSD or EDS file on CD Code Type 3001 = Profibus-DP, Class = CANOpen 1001 = DeviceNet Connection Type 1 = Socket box with PG 7 - Cable gland Profibus / CANopen only 2 = M12 eurofast Input / Output Circuit 1 = DeviceNet 2 = CANopen 3 = Profibus-DP, Class 2, VDC D8

106 Kübler by TURCK Bus System Encoders Type T Profibus DP / CANopen Multiturn Large Bore Hollowshaft Encoder Profibus DP / CAN Open Resolution up to 25-Bits (13 x 12) Programmable - Parameters Include: Resolution, Revolutions, Direction, Preset, Diagnostics, Zero IST Intelligent Sensing Technology Shock Resistant to 250 gs Short-circuit Protection and Reverse Polarity Protection Integrated T Coupling and Termination Resister ISO 9001 Specifications Protection IP 65 Speed Up to 6000 RPM Operating Temperature -20 C to +80 C (-4 F to +176 F) Shock / Vibration 2500 m/s 2, (6 ms) per DIN-IEC / 100 m/s 2 (10 to 2000 Hz) per DIN IEC Humidity 98% relative humidity without condensing Weight 31 oz. (0.9 kg) Housing / Shaft Aluminum with epoxy powder coat / 316 stainless Starting Torque Hollowshaft 28 oz./in. (<0.2 Nm) Interface Profibus-DP, Encoder Profile Class 2 CAN Open, Encoder Profiler Class 2 Supply Voltage (+V) VDC VDC Current Typ 0.29 A 0.29 A Fuse T A T A Linearity ±1/2 LSB (±1 LSB at 13, 14 or 25-bit res.) ±1/2 LSB (±1 LSB at 13, 14 or 25-bit res.) Code Binary Binary Interface RS485 line driver RS485 line driver Protocol Profibus-DP, encoder profile Class 2 CAN Open, encoder profile Class 2 Rate 12 Mbits/s max. 12 Mbits/s max. Address Adjustable with DIP switches Adjustable with DIP switches Profibus Encoder Profile The basic functions of the PROFIBUS DP are only described in the Introduction Section. For additional information, please refer to the standards on PROFIBUS DP, i.e. DIN and EN respectively. CANopen-Device Profile The basic functions of the CANopen are only described in the Introduction Section. For additional information, please refer to the standards on Device Profile DSP 406 i.e. ISO DeviceNet available soon. D9

107 Type T Profibus DP / CANopen Multiturn Large Bore Hollowshaft Encoder T Bus Systems 1 = Face Mount 2 = Short Anti-rotational Spring 3 = Long Anti-rotational Spring 4 = Tether Arm (short) Part Number Key T X X X X. XXXX Flange 1 = Face mount 2 = Short anti-rotation spring 3 = Long anti-rotation spring 4 = Tether arm (short) Shaft 1 = 12 mm 2 = 15 mm 3 = 20 mm 4 = 24 mm 5 = 28 mm 6 = 5/8 7 = = 12 x 30 mm (shaft version) 9 = 16 mm A = 3/4 B = 1/2 Code Type 2001 = CANopen 3001 = Profibus-DP, Class 2 Connection Type 1 = Socket box with PG 7 2 = Radial 5-pin, M12 (eurofast) Input / Output Circuit 2 = CANopen 3 = Profibus-DP, Class 2, VDC D10

108 Kübler by TURCK Draw Wire Encoders Notes: E1 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

109 Draw Wire Encoders Mini Housing Style Length Output Page Number 1 meter 2 meter Incremental E3 Mini Analog 4-20 ma 1 meter Analog 0-10 VDC E4 Potentiometer 10 k Industrial 2.8 meter 6 meter Incremental Absolute Bus E5 Long Length 8 meter 15 meter Incremental Absolute Bus E7 Draw Wire Mini Draw Wire - Incremental Encoder E3 Mini Draw Wire - Analog Output Encoder E4 Industrial Draw Wire Encoder E5 Long Length Draw Wire Encoder E7 E2

110 Kübler by TURCK Draw Wire Encoders Mini Draw Wire - Incremental Encoder Miniature Size Up to 2 meter Measuring Length 0.1 mm (0.004) Resolution Temperature and Ageing Compensation Short-circuit and Reverse Polarity Protection ISO 9001 Specifications Input 5-24 VDC (50 ma max. (no load)) Output Push-pull differential (50 ma sink/source) Output Format A and B in quadrature with index Measuring Range Up to 2000 mm (78.74) Resolution 0.1 mm (1000 PPR encoder) Traverse Speed 800 mm/sec. (max.) Absolute Accuracy ±0.1% (over full travel) Repeatability ±0.15 mm Wire-pull Force 10 N (36 oz.) Drum Circumference 100 mm Protection IP 64 Operating Temperature -20 C to +85 C (-4 F to +185 F) Shock 1000 m/s 2 (6 ms) Vibration 100 m/s 2 ( Hz) Life 500,000 cycles at zero angle Weight Kg (0.463 lbs) Part Number TD TD Description 1 meter range, 5-24 VDC 2 meter range, 5-24 VDC Electrical Connections Color WH BN GN YE GY PK BU RD Signal Common +V A A B B Z Z * * Index present every 100 mm every linear travel. E3

111 Mini Draw Wire - Analog Output Encoder Miniature Size Up to 1 meter Measuring Length Low Cost Voltage Output 0-10 VDC Current Output 4-20 ma Potentiometer 10 kω ISO 9001 Specifications Input VDC Output 0-10 VDC, 4-20 ma, 10 kω Potentiometer Load Resistance 500 Ω max. (0-10 VDC, 4-20 ma) Measuring Range 1000 mm (39.37) Absolute Accuracy ±0.35% (over full travel) Repeatability ±0.15 mm Wire-pull Force 10 N (36 oz.) Drum Circumference 100 mm Protection IP 64 Operating Temperature 0 C to +50 C (+32 F to +122 F) Life 500,000 cycles at zero angle Weight Kg (0.463 lbs) Shock 1000 m/s 2, (6 ms) Vibration 100 m/s 2, ( Hz) Draw Wire Part Number TD A TD A TD A External Electronics (Customer Supplied) Description 1 meter range, 4-20 ma 1 meter range, 0-10 VDC 1 meter range, Pot. 10 kω Color WH BN GN 4-20 ma *-I +I N/C 0-10 VDC GND VDC V out Pot. 10 kω Pe, end position Po, start position Wiper contact * Loop powered E4

112 Kübler by TURCK Draw Wire Encoders Industrial Draw Wire Encoder 2.8 and 6 meter Measuring Length Incremental, Absolute and Bus Outputs 0.1 mm (.004) Resolution Temperature and Aging Compensation Short-circuit and Reverse Polarity Protection ISO 9001 Specifications Measuring Range 2.8 meter and 6 meter Life (Cycles) 1,000,000 at zero angle Repeatability 0.05 mm Resolution 0.1 mm (2000 pulse encoder) (.004 ), (6 m version, 30 turns), (2.8 m version, 14 turns) Speed 3000 mm/s max. Wire-pull Force 5 N Weight 1050 g (2.135 lbs) Protection IP 65 Operating Temperature -20 C to +70 C (-4 F to +158 F) Shock 1000 m/s 2, (6 ms) Vibration 100 m/s 2, Hz Notes: For detailed encoder specifications see appropriate catalog page. Drum Circumference: 200 mm per revolution Linear Resolution = Circumference Encoder Resolution E5

113 Industrial Draw Wire Encoder Draw Wire Part Number Key TD8. 1 X XX XX X X XXXX. Draw Wire System and Wire Type 1 = Wire rope, 6 meter 2 = Para rope, 2.8 meter Length 06 = 6 meter A1 = 2.8 meter Code Type and Division, Impulses, Protocol Depends upon order number of the chosen encoder type. Connection Type Depends upon order number of the chosen encoder type. Encoder Type 00 = = = = = = = 5862 Interface and Supply Voltage Depends upon order number of the chosen encoder type. E6

114 Kübler by TURCK Draw Wire Encoders Long Length Draw Wire Encoder 8 and 15 meter Measuring Length Incremental, Absolute and Bus Outputs Temperature and Aging Compensation Short-circuit and Reverse Polarity Protection ISO 9001 Specifications Measuring Range 8 and 15 meter Life 1,500,000 cycles at zero angle Resolution 8 meter / 0.48 mm (1400 pulse encoder) (0.02 ) - 12 turns 15 meter / 0.48 mm (1250 pulse encoder) (0.02 ) - 25 turns Speed 3000 mm/s max. Wire-pull Force 5 N Weight 1050 g (2.315 lbs) Protection IP 65 Operating Temperature -20 C to +70 C (-4 F to +158 F) Shock 1000 m/s 2, (6 ms) Vibration 100 m/s 2, Hz Housing Material Aluminum Wire Material Stainless Steel Notes: Remove transportation pin prior to operation. For detailed encoder specifications see appropriate catalog page. Drum Circumference: 8 meter = mm per revolution 15 meter = 600 mm per revolution Linear Resolution = Circumference Encoder Resolution E7

115 Long Length Draw Wire Encoder Draw Wire Part Number Key Length 13 = 8 meter 17 = 15 meter Encoder Type 00 = = = = = = = 5862 TD8. 14 XX XX X X XXXX. Code Type and Division, Impulses, Protocol Depends upon order number of the chosen encoder type. Connection Type Depends upon order number of the chosen encoder type. Interface and Supply Voltage Depends upon order number of the chosen encoder type. E8

116 Kübler by TURCK Draw Wire Encoders Draw Wire - Accessories Part Number Description Guide Pulley Part Number Description meter steel wire extension meter para wire extension meter steel wire extension meter steel wire extension E9

117 Notes: Draw Wire E10

118 Kübler by TURCK Encoder Mating Cordsets Notes: F1

119 Encoder Mating Cordsets Cordset Style Description Page Number M12 eurofast 8-pin Molded Cordsets: - Single Ended - - Extensions - - Straight, Right Angle - - Male, Female - F3 - F4 M12 eurofast 8-pin Field Wireables: - Straight - - Male, Female - F5 - F6 M23 multifast 12 and 17-pin Cordsets: - Straight - - Female - F7 - F8 M23 multifast 12 and 17-pin Field Wireables: - Straight - - Female - F9 - F10 Military 7 and 10-pin Cordsets: - Straight - - Female - F11 - F12 Cordsets Military 7 and 10-pin Field Wireables: - Straight - - Female - F13 - F14 F2

120 Kübler by TURCK Encoder Mating Cordsets eurofast Specialty Cordsets, Shield to Coupling Nut, PVC High Grade Oil and UV Resistant PVC Shield Tied to Coupling Nut 24 AWG, 26 AWG Drain 8 Conductors E-RKS.. E-WKS.. E-RSS.. E-WSS.. 8-pin, 60 VAC / 75 VDC, 2 A Female Male Application Cable Specs Pinout Straight Right Angle Straight Right Angle 8-wire DC Shield tied to coupling nut 8/24 AWG, 26 AWG drain, foil and braided shield Black PVC 105 C 7.3 mm OD 1. Wh 2. Bn 3. Gn 4. Ye 5. Gy 6. Pk 7. Bu 8. Rd E-RKS 8T-930-* E-WKS 8T-930-* E-RSS 8T-930-* E-WSS 8T-930-* E-RKS.. RSS.. E-RKS.. WSS.. E-WKS.. RSS.. E-WKS.. WSS.. 8-pin, Extensions, 60 VAC / 75 VDC, 2 A Application Cable Specs Straight Female Straight Male Straight Female Right Angle Male Right Angle Female Straight Male Right Angle Female Right Angle Male 8-wire DC Shield tied to coupling nut 8/24 AWG, 26 AWG drain, foil and braided shield Black PVC 105 C 7.2 mm OD E-RKS 8T-930-*-RSS 8T E-RKS 8T-930-*-WSS 8T E-WKS 8T-930-*-RSS 8T E-WKS 8T-930-*-WSS 8T * Length in meters F3

121 Specifications Connector: Oil resistant polyurethane body material, PUR contact carrier, spacings to VDE 0110 Group C. Contacts: Gold plated brass. Coupling Nuts: Nickel plated brass. See options below** Cable: See table. Protection: NEMA 1,3,4,6P and IEC IP 68. Cable Length: Standard cable lengths are nominal 2, 4 and 6 meters. Other lengths available by request - consult factory. ** Options: To specify stainless steel coupling nut, add a V to part number. For example: RKS.. To RKSV.. (Straight female) or WS.. To WSSV.. (Right angle male). Dimensions E-RKS.. - * -RSS.. Note: Replace right end of illustrations at left with WKS shown below for RKS..-*-WKS.. and WKS..-*-WKS.. configuration. E-WKS.. Extension E-WKS.. - * -RSS.. Female Connector Cordsets Extension Pinouts Female Male 8-pin 8-pin F4

122 Kübler by TURCK Encoder Mating Cordsets eurofast Field Wireable Shielded Connectors Shield Tied to Coupling Nut All Metal Connector, Fully Shieldable Prevents or Fixes EMI / RFI Problems Screw Terminals - No Soldering Required CMB.. CMBS.. 8-pin, Standard Key Female Male Application Specifications Straight Straight Metal, fully shielded Mates with standard key 8-pin cordsets and receptacles 30 VAC/ 36 VDC, 4.0 A PG 9 cable gland, accepts 6-8 mm cable Screw terminal, up to 18 AWG CMB CMBS 8181 F5

123 Housing: Nickel plated brass. Contact Holder: Nylon. Contacts: Gold plated brass. Seal and O-ring: Viton (PFM). Temperature: -40 C to +85 C (-40 F to +185 F). Protection: IEC IP 67. Specifications Dimensions CMB CMBS Female Connector Male Connector Cordsets Pinouts Female Male 8-pin 8-pin F6

124 Kübler by TURCK Encoder Mating Cordsets multifast Cordsets - Standard 12 or 17-Pin Female Coupling Nut, Female Contact Holders Shielded High Grade Oil and UV Resistant PVC E-CKS.. Shield Tied to Coupling Nut, Standard Female Application Specifications Pinout Straight 12-pin Incremental 12/24 Black PVC 7.2 mm O.D. 26 AWG Drain, Foil and Braided Shield 105 C 1 / Wh 2 / Bn 3 / Gn 4 / Ye 5 / Gy 6 / Pk 7 / Bu 8 / Rd 9 / Bk 10 / Vt 11 / Pk/Gy 12 / Rd/Bu E-CKS * 17-pin Absolute 18/24 Yellow PVC 7.6 mm O.D. 26 AWG Drain, Foil and Braided Shield 105 C 1 / Wh 2 / Bn 3 / Gn 4 / Ye 5 / Gy 6 / Pk 7 / Bu 8 / Rd 9 / Bk 10 / Vt 11 / Pk/Gy 12 / Rd/Bu 13 / Wh/Gn 14 / Bn/Gn 15 / Wh/Ye 16 / YE/BN 17 / Wh/Gy E-CKS */A Shield Tied to Coupling Nut, Twisted Pairs Female Application Specifications Pinout Straight 12-pin Absolute 12/26 Grey PVC 7.3 mm O.D. 26 AWG Braided Shield 80 C 1 / Wh 2 / Bn 3 / Gn 4 / Ye 5 / Gy 6 / Pk 7 / Bu 8 / Rd 9 / Bk 10 / Vt 11 / Pk/Gy 12 / Rd/Bu E-CKS */A 12-pin Incremental 12/26 Grey PVC 7.3 mm O.D. 26 AWG Braided Shield 80 C 1 / Pk 2 / Bn 3 / Bu 4 / Rd 5 / Gn 6 / Ye 7 / N/C 8 / Gy 9 / N/C 10 / Wh 11 / Pk/Gy 12 / Bn E-CKS * 17-pin Absolute 18/26 Grey PVC 7.2 mm O.D. 26 AWG Braided Shield 80 C 1 / Wh 2 / Bn 3 / Gn 4 / Ye 5 / Gy 6 / Pk 7 / Bu 8 / Rd 9 / Bk 10 / Vt 11 / Pk/Gy 12 / Rd/Bu 13 / Wh/Gn 14 / Bn/Gn 15 / Wh/Ye 16 / YE/BN 17 / Wh/Gy E-CKS */A * Length in meters F7

125 Specifications Housing: Nickel plated die cast zinc. PBT or nylon contact carrier. Contacts: Gold plated copper alloy. Cable: See table. Protection: IEC IP 67. Note: Standard cable length is nominal 5 meters. Other lengths available by request - consult factory. Dimensions E-CKS.. Female Connector Cordsets Pinouts Female (12-pin) Female (17-pin) F8

126 Kübler by TURCK Encoder Mating Cordsets multifast Field Wireable Connectors 12 or 17-Pin Female Coupling Nut, Female Contact Holders E-CKS.. 12 and 17-pin Field Wireables Female Application Specifications Straight Metal, fully shielded Mates with 12-pin encoders Solder Cup up to 18 AWG E-CKS 12-0 Metal, fully shielded Mates with 17-pin encoders Solder Cup up to 18 AWG E-CKS 17-0 F9

127 Specifications Housing: Nickel plated die cast zinc. PBT or nylon contact carrier. Contacts: Gold plated copper alloy. Cable: Solder cup, up to 18 AWG. Protection: IEC IP 67. Dimensions E-CKS.. Female Connector Cordsets Pinouts Female (12-pin) Female (17-pin) F10

128 Kübler by TURCK Encoder Mating Cordsets Military Cordsets 7 and 10-pin Shielded High Grade Oil +UV Resistance + PVC E-MK.. 7 and 10-pin Cordsets Female Application Specifications Pinout Straight 7-pin, Threaded Mates with 7-pin encoder 24 AWG, Black PVC 7.3 mm O.D. 24 AWG Drain, Foil & Braided Shield, 105 C A - Wh B - Bn C - Gn D - Ye E - Gy F - Pk G - Bu E-MK * 10-pin, Threaded Mates with 10-pin encoder 24 AWG, Black PVC 7.2 mm O.D. 24 AWG Drain, Foil & Braided Shield, 105 C A - Wh B - Bn C - Gn D - Ye E - Gy F - Pk G - Bu H - Rd I - Bk J - Vt E-MK * F11

129 Specifications Housing: Contacts: Inserts: Aluminum alloy. Silver plated copper alloy. Neoprene. Dimensions E-MK.. (7-pin) E-MK.. (10-pin) Female Connector Female Connector Cordsets Pinouts Female (7-pin) Female (10-pin) TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) F12

130 Kübler by TURCK Encoder Mating Cordsets Military Cordsets - Field Wireable Connectors 7 and 10-pin Threaded and Bayonet Styles Application Specifications Straight E-MK.. 7 and 10-pin Field Wireables Female 7-pin, Threaded Mates with 7-pin encoder Solder cup connection E-MK pin, Threaded Mates with 10-pin encoder Solder cup connection E-MK 10-0 F13

131 Specifications Housing: Contacts: Inserts: Aluminum alloy. Silver plated copper alloy. Neoprene. Dimensions E-MK 7-0 (7-pin) E-MK 10-0 (10-pin) Female Connector Female Connector Cordsets Pinouts Female (7-pin) Female (10-pin) F14

132 Kübler by TURCK Encoder Accessories Couplings Kübler by TURCK precision flexible couplings are engineered for optimum performance when used with Kübler by TURCK encoders. Designed to connect two misaligned shafts, our beam style couplings offer superior performance, reliability, long life and are easy to install. Performance: Designed with six overlapping double tapered beams to offer even load distribution, constant velocity and torsional rigidity. Reliability: Our couplings have exceeded the U.S. militarys MIL-HDBK-SA specification for flexing beams. Accelerated life tests with excessive loads at 10,000 RPM and 50 million revolutions indicate no sign of fatigue. Installation: Clean and degrease all shafts, check parallel alignment. Do not exceed misalignment and axial motion specifications. Clamp one end of the coupling to the drive shaft. Insert encoder into the other end. Tap lightly on the coupling hub to stabilize system. Tighten the second screw. Note: Light should be visible through the beams. Part Number D L E F G Parallel Angular Misalignment Axial Motion TFC (19.0) (19.0) (5.6) (7.8) (2.4) (0.20) 5 ±0.005 (0.13) TFC (25.4) (25.4) (7.1) (11.2) (3.2) (0.25) 5 ±0.010 (0.25) TFC (31.5) (31.75) (7.87) (16.0) (3.55) (0.25) 5 ±0.012 (0.30) B1 = Encoder shaft B2 = Drive shaft with G10 insert Two sets of three overlapping curved beams Coupling Tabulation - Inches (mm) Cross section of one beam Part Number Key TFC M TURCK Flexible Coupling Drive Shaft Size Coupling Diameter Encoder Shaft Size G1

133 Couplings Part Number Coupling Diameter Encoder Shaft Drive Shaft TFC MKIT , 5, 6, 8 mm TFC M mm TFC M mm TFC M mm TFC M mm TFC IKIT , 0.187, TFC TFC TFC TFC075-06M-MKIT mm 4, 5, 6, 8 mm TFC075-06M-M mm 4 mm TFC075-06M-M mm 5 mm TFC075-06M-M mm 6 mm TFC075-06M-M mm 8 mm TFC075-06M-IKIT mm 0.125, 0.187, TFC075-06M mm TFC075-06M mm TFC075-06M mm TFC IKIT , 0.187, 0.250, TFC TFC TFC TFC TFC MKIT , 5, 6, 8, 10 mm TFC M mm TFC M mm TFC M mm TFC M mm TFC M mm TFC100-12M-IKIT mm 0.250, 0.375, TFC125-12M mm TFC125-12M mm TFC125-12M mm TFC125-12M mm TFC125-12M mm 0.5 TFC125-12M-MKIT mm 6, 8, 10, 12 mm TFC125-12M-M mm 6 mm TFC125-12M-M mm 8 mm TFC125-12M-M mm 10 mm TFC125-12M-M mm 12 mm TFC M mm TFC Accessories G2

134 Kübler by TURCK Encoder Accessories Servo Cleats Part Number For Encoder Type D 1 D 2 D 3 A B C T XXX.XXXX.267 (6.8).197 (5.0).110 (2.8).138 (3.5).089 (2.25).035 (0.9) T8.58XX.2XXX.XXXX.350 (8.9).256 (6.5).126 (3.2).220 (5.6).193 (4.9).098 (2.5) For use with rotary encoders with synchronous flange Screws included (M4x4) Chrome plated steel Galvanized nickel finish Flex Brackets Part Number C Description Flex bracket for hollowshaft series 3720 Screws included (2) M2.5x6 mm Part Number F Description Flex bracket for hollowshaft 582X, 587X or 3720 Screw included (1) M3x5 mm G3

135 Flex Brackets Part Number Description Tether Arm for hollowshaft series 582X Screws included (3) M3x6 mm Part Number Description Flex bracket for hollowshaft series 582X or 587X Screws included (2) M2.5x6 mm Part Number Description D Flex bracket for 5882 Screws included (4) M2.5x6 mm Accessories G4

136 Kübler by TURCK Encoder Accessories Flex Brackets Part Number G Description Tether Arm (short) for A020 Screws included (2) M2.5x5 mm Part Number Description Includes E Tether arm (long) for A020 (3) M4x5 mm screws L Tether arm (long) for A020 (3) M4x5 mm screws (1) 1/4-20 x 1.0 bolt (3) 1/4-20 nuts M Tether arm (long) for A020 (3) M4x5 mm screws (1) 3/8-16 x 1.0 bolt (3) 3/8-16 nuts (1) Nylon step washer (1) Nylon mating washer (1) Nylon step washer (1) Nylon mating washer G5 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

137 Torque Pin Supports Part Number H (short) (long) Description For 3720 and 58XX encoders Screw included (1) M2.5x5 mm Part Number J (short) K (long) Description Anti-rotational Spring (short) Anti-rotational Spring (long) for A020 and 908X large bore series Screws included (2) M2.5x5 mm Accessories G6

138 Kübler by TURCK Encoder Accessories Torque Pins (Standard and Metric) Part Number Description A B C D E F G (Radius) H N N mm, smooth mm, smooth mm, M4 thread mm, 8-32 thread A020 6 mm, M6 thread A020 6 mm, thread (12.0 mm) (16.0 mm) (30.0 mm) (30.0 mm) (40.0 mm) (46.0 mm) (3.0 mm) (4.0 mm) (4.0 mm) (4.0 mm) (6.0 mm) (6.0 mm) (5.0 mm) (6.35 mm) (9.0 mm) (6.35 mm) (8.0 mm) (9.5 mm) (14.0 mm) (11.0 mm) M4 x (10.0 mm) (16.0 mm) M6 x (7.0 mm) (7.0 mm) (7.0 mm) (7.0 mm) (7.0 mm) (7.0 mm) NA NA (7.0 mm) 1/4 (6.35 mm) (10.0 mm) 3/8 (9.52 mm) Brackets Part Number Description Right angle bracket Used with clamping flange 58 mm face mount Screws Included G7 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

139 Brackets Part Number Description Spring loaded right angle bracket for measuring wheels and rack and pinion systems. Used with clamping flange 58 mm face mount Screws Included Top Hat Part Number XXXX Description Top hat assembly bell Kit includes: - Coupling Mounting screws Purchase separately: - Flex coupling TCF075-XX-XX - Optional assembly with servo cleat Used with servo flange 58 mm Accessories TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) G8

140 Kübler by TURCK Encoder Accessories Mounting Flanges Part Number Description A B C D (Diameter) E (Radius) (58.0) (48.0).157 (4.0).177 (4.5).157 (4.0) Square adapter flange (63.5) (52.5).118 (3.0).217 (5.5).295 (7.5) (80.0) (65.0).157 (4.0).217 (5.5).295 (7.5) Used with clamping flange 58 mm face mount Kits include mounting screws Part Number Description Square adapter flange Used with clamping flange 58 mm face mount Kits include mounting screws G9 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

141 Mounting Flanges Part Number Description Round adapter flange for 58XX encoders Used with clamping flange 58 mm face mount Kits include mounting screws Part Number Description Round adapter flange for 58XX encoders Used with clamping flange 58 mm face mount Kits include mounting screws Part Number Description Round Adapter Flange for 58XX Encoders Used with clamping flange 58 mm face mount Kits include mounting screws Accessories G10

142 Kübler by TURCK Encoder Accessories Mounting Flanges Part Number Description Round adapter flange for 58XX Encoders Used with clamping flange 58 mm face mount Kits include mounting screws Wheels Part Number Description /4 bore, aluminum wheel, 12" circumference /8 bore, diamond knurl aluminum wheel, 12" circumference * 1/4 Bore, Rubber Wheel, 12" circumference * 3/8 Bore, Rubber Wheel, 12" circumference * Temperature rating -30 C to +95 C (-22 F to +203 F) G11

143 Bearing Box Part Number Description Bearing Box for 58XX Encoders with Clamping Flange and 10x20 mm Shaft Kit includes: - Bearing box w/lock cover and sealing - Coupling for.394 (10.0) shaft - Flange adapter (3) M3x8 countersink screws - (4) slotted head screws Notes: In applications where the encoder is driven by use of gears, chains, belts etc. and the permitted axial and radial shaft loads are exceeded, a specially designed bearing box with stronger bearings is recommended. Shaft load Axial: 100 lbs. (444 N) Radial: 100 lbs. (444 N) Lifetime of bearings 50,000 hours Protection IP 65 Max. speed 4000 min -1 Rack and Pinion Part Number Description Rack Pinion Support Accessories TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763) G12

144 Kübler by TURCK Encoder Accessories Counters Part Number E E90 Description SSI Display with transistor outputs SSI Display with analog output a AC and DC supply voltage in one unit a SSI-clock frequency from 100 Hz up to 1 MHz a Display and outputs may be adjusted using scaling and offset features a Suitable for SSI-protocols up to 25 Bits Part Number E E90 Description Digital Pulse Encoder Display with transistor outputs Digital Pulse Encoder Display with analog output a AC and DC supply voltage in one unit a Counter a Frequency meter a Display and outputs may be adjusted using scaling and offset features a 100 khz frequency input G13

145 Misc. Accessories Part Number DDC-20 Description EZturn Demo Kit Kit includes: - T T T Part Number Description EZturn Programming Kit with M12 (Rev 3.05) Kit includes: E-RSS 8T All hardware and software necessary to program T8.5862, T and T programmable absolute encoders with a PC. Part Number T Description EZturn Programming Kit with M23 (Rev 3.05) Accessories Kit includes: All hardware and software necessary to program T8.5862, T and T programmable absolute encoders with a PC. G14

146 Kübler by TURCK Encoder Accessories Notes: G15

147 Notes: Accessories G16

148 Kübler by TURCK Index of Part Numbers E G E G E G G G G G G XXXX G E E E E E G G G G G G G G G G G G G G G G G C G D G E G F G G G H (short) G I (long) G J G K G L G M G G G G G G G-14 CMB F-5 CMBS F-5 DDC G-14 E-CKS F-9 E-CKS * F-7 E-CKS */A F-7 E-CKS * F-7 E-CKS F-9 E-CKS */A F-7 E-CKS */A F-7 E-MK F-13 E-MK * F-11 E-MK F-13 E-MK * F-11 E-RKS 8T-930-* F-3 E-RKS 8T-930-*-RSS 8T F-3 E-RKS 8T-930-*-WSS 8T F-3 E-RSS 8T-930-* F-3 E-WKS 8T-930-* F-3 E-WKS 8T-930-*-RSS 8T F-3 E-WKS 8T-930-*-WSS 8T F-3 E-WSS 8T-930-* F-3 Industrial Draw Wire E-5 Long Length Draw Wire E-7 Mini Draw Wire - Analog E-4 Mini Draw Wire - Incremental E-3 N G-7 N G-7 T B-5 T B-23 T C-25 T G-14 H1

149 Index of Part Numbers T B-7 T B-9 T B-25 T B-11 T B-15 T B-17 T B-19 T B-27 T B-29 T B-31 T B-33 T B-35 T C-13 T D-7 T C-27 T C-17 T C-21 T C-29 T D-9 T C-33 T8.A B-39 TFC G-1 TFC075-06M G-2 TFC075-06M G-2 TFC075-06M G-2 TFC075-06M-IKIT G-2 TFC075-06M-M G-2 TFC075-06M-M G-2 TFC G-1 TFC100-12M-IKIT G-2 TFC G-2 TFC G-2 TFC G-2 TFC G-2 TFC IKIT G-2 TFC M G-2 TFC M G-2 TFC M G-2 TFC M G-2 TFC M G-2 TFC MKIT G-2 TFC G-1 TFC125-12M G-2 TFC125-12M G-2 TFC125-12M G-2 TFC125-12M G-2 TFC125-12M G-2 TFC125-12M-M G-2 TFC125-12M-M G-2 TFC125-12M-M G-2 TFC125-12M-M G-2 TFC125-12M-MKIT G-2 TFC G-2 TFC M G-2 TFC075-06M-M G-2 TFC075-06M-M G-2 TFC075-06M-MKIT G-2 TFC G-2 TFC G-2 TFC G-2 TFC IKIT G-2 TFC M G-2 Index TFC M G-2 TFC M G-2 TFC M G-2 TFC MKIT G-2 H2

150 Kübler by TURCK RISK OF LOSS Warranty Terms and Conditions Delivery of the equipment to a common carrier shall constitute delivery to the Purchaser and the risk of loss shall transfer at that time to Purchaser. Should delivery be delayed due to an act or omission on the part of the Purchaser, risk of loss shall transfer to the Purchaser upon notification by TURCK Inc. that the order is complete and ready for shipment. WARRANTIES TURCK INC. (hereinafter TURCK ) offers five (5) WARRANTIES to cover all products sold. They are as follows: 1) The 12-MONTH WARRANTY is available for the products listed - generally those not covered by LIFETIME, 5-YEAR, 24-MONTH or 18-MONTH warranty. No registration required. 2) The 18-MONTH WARRANTY is available for the products listed - generally those not covered by LIFETIME or 5-YEAR WARRANTY. No registration is required. 3) The 24-MONTH WARRANTY is available for the products listed - generally those not covered by LIFETIME, 5-YEAR or 18-MONTH. No registration is required. 4) The 5-YEAR WARRANTY is available generally for the products listed. No registration is required. 5) A LIFETIME WARRANTY is available for the products listed. It becomes effective when the accompanying TURCK LIFETIME WARRANTY REGISTRATION is completed and returned to TURCK. GENERAL TERMS AND CONDITIONS FOR ALL WARRANTIES 12-MONTH STANDARD WARRANTY 18-MONTH STANDARD WARRANTY 24-MONTH STANDARD WARRANTY 5-YEAR WARRANTY LIFETIME WARRANTY TURCK warrants the Products covered by the respective WARRANTY AGREEMENTS to be free from defects in material and workmanship under normal and proper usage for the respective time periods listed above from the date of shipment from TURCK. In addition, certain specific terms apply to the various WARRANTIES. THESE EXPRESS WARRANTIES ARE IN LIEU OF AND EXCLUDE ALL OTHER REPRESENTATIONS MADE - BOTH EXPRESSED AND IMPLIED. THERE ARE NO WARRANTIES OF MERCHANTABILITY OR OF FITNESS FOR A PARTICULAR PURPOSE FOR PRODUCTS COVERED BY THESE TERMS AND CONDITIONS. TURCK warrants that the goods sold are as described, but no promise, description, affirmation of fact, sample model or representation, oral or written shall be part of an order, unless set forth in these terms and conditions, or are in writing and signed by an authorized representative of TURCK. These WARRANTIES do not apply to any Product which has been subject to misuse, negligence, or accident - or to any Product which has been modified or repaired, improperly installed, altered, or disassembled -except according to TURCK s written instructions. These WARRANTIES are subject to the following conditions: 1) These WARRANTIES are limited to the electronic and mechanical performance only, as expressly detailed in the Product specifications and NOT to cosmetic performance. 2) These WARRANTIES shall not apply to any cables attached to, or integrated with the Product. However, the 18-MONTH WARRANTY shall apply to cables sold separately by TURCK. 3) These WARRANTIES shall not apply to any Products which are stored, or utilized, in harsh environmental or electrical conditions outside TURCK s written specifications. 4) The WARRANTIES are applicable only to Products shipped from TURCK subsequent to January 1, ADDITIONAL SPECIFIC TERMS FOR - (12-MONTH STANDARD WARRANTY) for Linear Displacement Transducers and RFID products. (18-MONTH STANDARD WARRANTY) FOR ULTRASONIC SENSORS, CABLES AND ALL NON-SENSING PRODUCTS SOLD BY TURCK INC. IN- CLUDING MULTI-SAFE, MULTI-MODUL, MULTI-CART AND RELATED AMPLIFIER PRODUCTS, RELAYS AND TIMERS. (24-MONTH STANDARD WARRANTY) FOR ENCODERS. 5-YEAR WARRANTY FOR INDUCTIVE AND CAPACITIVE PROXIMITY SENSORS: The periods covered for the above WARRANTIES and Products shall be 12 MONTHS, 18-MONTHS, 24-MONTHS and 5-YEARS, respectively, from the date of shipment from TURCK. H3 TURCK Inc Campus Drive Minneapolis, MN Application Assistance: Fax: (763)

151 ADDITIONAL SPECIFIC TERMS FOR - (continued) LIFETIME WARRANTY (OPTIONAL - REGISTRATION REQUIRED) FOR INDUCTIVE, INDUCTIVE MAGNET OPERATED AND CAPACITIVE PROXIMITY SENSORS SOLD TO THE ORIGINAL PURCHASER FOR THE LIFETIME OF THE ORIGINAL APPLICATION. The following terms apply to the LIFETIME WARRANTY in addition to the General Terms: 1) This WARRANTY shall be effective only when the LIFETIME WARRANTY REGISTRATION has been completed, signed by the End User and an authorized TURCK Representative or Distributor and has been received by TURCK no later than six (6) months after installation in the End User s Plant, or two (2) years from the date product was shipped from TURCK, whichever is sooner. 2) This warranty is available only to TURCK s authorized Representatives, Distributors and to the Original User. (The term Original User means that person, firm, or corporation which first uses the Product on a continuous basis in connection with the operation of a production line, piece of machinery, equipment, or similar device.) In the event the ownership of the product is transferred to a person, firm or corporation other than the Original User, this WARRANTY shall terminate. 3) This WARRANTY is applicable only to the Original Application. In the event the machinery, equipment, or production line to which the Product is connected, or on which it is installed, is substituted, changed, moved or replaced, the WARRANTY shall terminate. 4) This WARRANTY shall be valid only if the Product was purchased by the Original User from TURCK, or from an authorized TURCK Distributor, or was an integral part of a piece of machinery and equipment obtained by the Original user from an Original Equipment Manufacturer, which itself, was purchased directly from TURCK or from an authorized Distributor. PURCHASER S REMEDIES Warranty Terms and Conditions This Remedy shall apply to all WARRANTIES. If a TURCK Distributor desires to make a WARRANTY Claim, the Distributor shall, if requested by TURCK, ship the Product to TURCK s factory in Minneapolis, Minnesota, postage or freight prepaid. If the User desires to make a WARRANTY Claim, they shall notify the authorized TURCK Distributor from whom it was purchased or, if such Distributor is unknown, shall notify TURCK. TURCK shall, at its option, take any of the following two courses of action for any products which TURCK determines are defective in materials or workmanship. 1) Repair or replace the Product and ship the Product to the Original Purchaser or to the authorized TURCK Distributor, postage or freight prepaid; or 2) Repay to the Original Purchaser that price paid by the Original Purchaser; provided that if the claim is made under the LIFETIME WARRANTY, and such Product is not then being manufactured by TURCK, then the amount to be repaid by TURCK to the Original Purchaser shall be reduced according to the following schedule: Number of Years Since Date Percent of Original Purchase of Purchase by Original Purchaser Price To Be Paid by TURCK 10 50% 15 25% 20 10% More than 20 5% PURCHASER S REMEDIES SHALL BE LIMITED EXCLUSIVELY TO THE RIGHT OF REPLACEMENT, REPAIR OR REPAYMENT AS PROVIDED AND DOES NOT INCLUDE ANY LABOR COST OR REPLACEMENT AT ORIGINAL PURCHASER S SITE. TURCK SHALL NOT BE LIABLE FOR ANY CONSEQUENTIAL DAMAGES RESULTING FROM ANY BREACH OF ANY WARRANTY, EXPRESSED OR IMPLIED, APPLICABLE TO THE PRODUCT, INCLUDING WITHOUT LIMITATION, ANY DAMAGES RESULTING FROM PROPERTY DAMAGE, PERSONAL INJURY OR BUSINESS INTERRUPTION. CONSIDER SAFETY AND PROTECTION PRECAUTIONS TURCK takes great care to design and build reliable and dependable products, however, some products can fail eventually. You must take precautions to design your equipment to prevent property damage and personal injury in the unlikely event of failure. As a matter of policy, TURCK does NOT recommend the installation of electronic controls as the sole device FOR THE PROTECTION OF PERSONNEL in connection with power driven presses, brakes, shears and similar equipment and, therefore, the customer should build in redundancy or dual control using approved safety devices for these applications. Index GOVERNING LAW The sale and purchase of Products covered hereby and all terms and conditions hereof shall be governed by the law of the State of Minnesota. H4

152 Kübler by TURCK Notes: H5

153 Notes: Index H6

154 Kübler by TURCK TURCK Inc. sells its products through Authorized Distributors. These distributors provide our customers with technical support, service and local stock. TURCK distributors are located nationwide - including all major metropolitan marketing areas. For Application Assistance or for the location of your nearest TURCK distributor, call: PROX ( ) Specifications in this manual are subject to change without notice. TURCK also reserves the right to make modifications and makes no guarantee of the accuracy of the information contained herein. Literature and Media questions or concerns? Contact Marketing Services TURCK USA - media@turck.com H7

155

156 The Industry Leader in Proximity Sensing, Cordsets and Interface Technology Flow and Temperature Monitors Pressure Sensors Proximity Sensors Cordsets General Purpose RFID Systems Order B0155 Linear Displacement Transducers Order B0158 Add Sensor Functions with smartplug Order B2000 Flexible Cordsets flexlife-10 Order B2001 Order B4904 DieGuard WeldGuard Order B0310 Order B0313 Order B0422 Contact TURCK for the Latest Literature: Sensors Division - sensors@turck.com Cordset Division - cordsets@turck.com Intrinsic Safety Division - barriers@turck.com Toll Free PROX (7769) Order B1777 Order B0178 TURCK USA TURCK Mexico InterlinkBT TURCK Inc Campus Drive Minneapolis, MN Phone: (763) FAX: (763) Application Support: PROX (7769) TURCK Mexico S. de R.L. de C.V. Carr. Saltillo-Zacatecas km 4.5 s/n Parque Industrial La Angostura Saltillo, COAH. CP Phone: (844) FAX: (844) Toll Free: TURCK (Mexico only) ( ) InterlinkBT 3000 Campus Drive Minneapolis, MN Phone: (763) FAX: (763) Application Support: B3050 1/04 REV A