ø25 ø38 ø40 Standard low cost ø50 Low cost Standard type No rear space for cable Connector connection ø78 Standard applications Connector connection

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1 Specialist Rotary Encoders Select Freely to Suit Your Application Compact machinery and devices Compact machinery and devices Series/Resolution Compact TRD-MX series 0 to 1,024 pulses/rotation Compact TRD-S series Diameter (mm) ø25 ø38 Dust and splash proof IP65 Dust proof Dust proof Model TRD-MX TRD-S Page P P12 TRD-MX TRD-S to 2,500 pulses/rotation Compact metal case Compact TRD-2E series to 2,500 pulses/rotation ø40 Environmentallyhardened IP54 Dust and splash proof die-cast case with short circuit protection TRD-2E P14 TRD-2E New standard in spacesaving mountings Compact, slim design TRD-N series ø50 Standard low cost Environmentallyhardened IP65 Dust proof plastic case Dust and splash proof die-cast case TRD-N TRD-N - W P16 P16 TRD-N Pulse output depends on rotation angle Incremental type Wide variation of standard models 1 to 2,500 pulses/rotation ø50 Compact, standard-use series to 1,000 pulses/rotation Standard type No rear space for cable ow cost Environmentallyhardened IP65 Environmentallyhardened IP65 Rear-mounted cable connection Dust and splash proof rearmounted cable connection Side-mounted cable connection Dust and splash proof sidemounted cable connection - W - S - WS P21 P21 P21 P21 Incremental encoder slit plate Connector connection Environmentallyhardened IP65 Connector Dust and splash proof connector - C - CW P21 P21 arge-scale machinery, equipment, and heavy industry arge and powerful shaft loads TRD-GK series to 5,000 pulses/rotation ø78 Environmentallyhardened IP65 Standard applications Connector connection Dust and splash proof rearmounted cable connection Dust and splash proof connector TRD-GK TRD-GK - C2 P26 P26 TRD-GK Directly connected to shaft without a coupling Compact hollow shaft TRD-S series to 2,500 pulses/rotation ø38 Shaft diameter ø8 Standard applications Dust proof plastic case TRD-S P12 TRD-S Directly connected to shaft without a coupling ollow shaft TRD-N series 1 to 2,500 pulses/rotation ø50 Shaft diameter ø8 Standard applications Environmentallyhardened IP65 Dust proof plastic case Dust and splash proof die-cast case TRD-N TRD-N - W P16 P16 TRD-N Outputs absolute position signal depending on rotation angle Compact machinery and devices Compact series 32 to 2,048 resolution/rotation ø50 Environmentallyhardened IP65 Standard applications With connector at cable tip Dust and splash proof cable mounting Dust and splash proof with intermediate connectors E P30 P30 type arge-scale machinery, equipment, and heavy industry arge and powerful shaft loads series 180 to 1,024 resolution/rotation ø78 Environmentallyhardened IP65 Standard applications Connector connection With connector at cable tip Dust and splash proof cable mounting Dust and splash proof connectors Dust and splash proof with intermediate connectors -YS -YC2 -YPS P33 P33 P33 encoder slit plate Specially-shaped cable and connectors to save space OK even in water-splashed environments arge-scale, environmentally hardened space-saving series 180 to 1,024 resolution/rotation ø78 IP65 Solid aluminium die-cast case Connector connection Dust and splash proof cable mounting Dust and splash proof connectors -Y -YC2 P36 P36 Custom-made to your own specifications Specifications changed based on standard product Special specifications No. of pulses, output type, shaft diameter and length, cable length, etc. Special products Servomotor applications Custom-made specificationst Example of custom specifications ø48vibration-resistant through shaft ø8 Through shaft 23 Ultra-fine hollow shaft ø35 Pulse counter absolute encorders ø35 Multi-turn absolute encorders General applications ø2 Operates in cold storaget ø78 Equipped with selfdiagnostic function ø68 Powerful load talent ø0 Powerful through load 1

2 SAFETY PRECAUTION Notation Used in This Catalog The following indications are used in this catalog to allow safe use of products. Warning Caution Ignoring this indication and improperly handing the product can lead to a major malfunction possibly resulting in death or serious injury. Ignoring this indication and improperly handing the product can lead to injury or physical damage to property. Symbols This symbol represents acts that are generally prohibited. This symbol represents items that are compulsory or prescribed. Safety Precautions The following safety precautions must be obeyed for handling of products noted in this catalog. [Environment and conditions of use] Warning Do not use in an environment where there is a possibility of combustion or explosion. Doing so may lead to accident involving death or injury or a fire. Do not use this product for applications related to human safety. Use the product only for applications that will not lead to human injury even in the event of an accident or malfunction. Use and manage the product within the environmental ranges (vibration, impact, temperature, humidity, etc.) dictated in the specifications. Improper use may lead to a fire or damage to the product. Thoroughly understand the product before using it. Understand your product well before use. Caution [Installation and wiring] Warning Do not use with a power-supply voltage other than that noted in the specifications. Doing so may lead to a fire, electric shock, or a malfunction. Do not mis-wire products. Doing so may lead to a fire or malfunction. Caution Use the wiring and configuration dictated in the specifications. Not doing so may lead to a fire or malfunction. Do not use wiring methods that subject wiring to stress. Doing so may lead to electric shock or a fire. Perform wiring with power to the power source cut off. Not doing so may lead to electric shock or a malfunction. 2

3 SAFETY PRECAUTION [For use] Do not place near combustibles. Doing so may lead to a fire. Warning Do not use in methods other than as dictated in the specifications. Doing so may lead to an accident involving death or injury or a malfunction. Caution Do not insert inappropriate items in product openings. Doing so may lead to electric shock or a malfunction. [For maintenance] Caution Do not repair or disassemble the product. Doing so may lead to a fire, electric shock, or a malfunction. Maintenance and inspection should be performed with power to the power source cut off. There is a danger of electric shock when working with power supplied to the power source. [For dispose] Warning Use caution to follow the waste disposal policy of individual country in case of discarding the product. A Request Regarding Use andling of our products is designed with the object of their use as general electronic equipment. Do not use products for applications where a high level of reliability is needed with regard to human life. In addition, please contact our Sales Division beforehand when considering use of the products in environments or under conditions other than those in specifications for general electronic equipment or for use in units related to safety and control of transportation equipment (trains, automobiles, etc.), traffic signal equipment, fire-fighting/fire prevention equipment, or the like. 3

4 Corresponding CE Marking Conformity with the EMC Directive is as follows: EMC Directive Conformity specification EMS: EN Appropriate models TRD-S/S series TRD-2E series TRD-N/N-RZ series (Not for TRD-N/N-S series) -RZ series (Not for -S series) TRD-GK series series Please be advised beforehand that the contents of this catalog may change without warning due to product modifications. When exporting these products, prescribed procedures must be followed in accordance foreign exchange and export trade control laws. 4

5 Acquisition of ISO9001 / ISO14001 Certification ISO9001 We acquired ISO9001 certification from certification organization BVQI, which authorized by authorization organization UKAS, at England form October 12, Date of Accreditation : Target Factories : Target Products : Inspecting Agency : Certificate No. : October 12, 1995 (for ISO9001:1994) April 16, 2003 (for ISO9001:2000) eadquarters (Tokyo) and Ohizumi Factory (Yamanashi) Programmable Controllers Electronic Counters Digital Tachometers Programmable Cams Proximity Sensors Rotary Encoders Programmable Displays Electronic Control Systems for Factory Automation (FA) Automotive and Electronic Control Instruments BVQI (Bureau Veritas Quality International) 2881 ISO14001 We acquired ISO14001 certification from certification organization BVQI, which authorized by authorization organization UKAS, at England form December 29, Date of Accreditation : Target Factories : Inspecting Agency : Certificate No. : December 29, 2000 eadquarters (Tokyo) and Ohizumi Factory (Yamanashi) BVQI (Bureau Veritas Quality International)

6 Application Examples Printer Offset Control Positioning a NC Machine Blank Paper Roller Master Rotary encoder Printed paper Rotary encoder Programmable cam The rotary encoders are used to detect the moving distance A and moving distance B for adjusting the offset position. The moving distance B is detected in pulse by using the threaded rod. The programmable cam and rotary encoder are used to control the position of a NC machine. Modifying the cam switch configuration allows you to use different types of work-pieces. Detecting the Center of Workpieces Marking at Same Intervals Frequency demultiplier (1/2) Gate Detect roller Rotary encoder Rotary encoder Solenoid Electronic counter Photoelectric sensor Stamp Preset interval Electronic counter Feed roller Feed motor The photoelectric sensor generates pulse signals when a workpiece starts to cover its light. The pulse frequency is halved by the frequency demultiplier then processed by the rotary encoder for counting. The workpiece is centered when the count has reached a preset number. As the feed roller rotates, the workpiece is moved to a preset distance. The number of rotations is converted to the number of pulses by the rotary encoder, and counted by the electronic counter. When the count has reached a preset number, the counter generates a signal to activate the stamp. Crane Control Wrap Over System P Photoelectric sensor Rotary encoder Rotary encoder Cutter Sheet Proximity sensor Rotary encoder Conveyer A rotary encoder is used to sense wire extension and contraction, turns, inclination, and boom extension and contraction. A proximity sensor is used to sense the width of leg deployment. The pinch roll spins at certain timing and wrap over the sheet onto a board when photoelectric sensor 1 detects front edge of the board carried through conveyer. The cutter cuts off the sheet when the photoelectric sensor 2 detects back edge of the board. A rotary encoder is used to count the pulse in order to set the front edge of next sheet for next board carried through conveyer. 6

7 Application Examples Cutting Materials to Uniform ength Rotary encoder Elevator Speed Control Rotary encoder Electronic counter Cutter Fixed length The number of rotations is converted to the number of pulses by the rotary encoder, and counted by the electronic counter. When the count has reached a preset number, the cutter is activated to cut the material to a fixed length. Controlling Bottling Machine The rotary encoder is directly connected to the detect roller of the elevator. When the elevator moves, the roller rotates by the wall surface, and this rotation is converted to pulses by the rotary encoder. The moving speed is controlled to make smooth acceleration, deceleration, and stopping, through the use of the detected pulse from this encoder. Stopping at a Regular Interval Filling Capping Proximity sensor Clutch brake Rotary encoder Control board Programmable cam Electronic counter abeler Rotary encoder The programmable cam and rotary encoder provide overall control of the entire bottling processes. Filling bottles, capping, and labeling can be controlled from a single turntable. The table can be also controlled to avoid angular deviations. Controlling Filling Timing Clutch brake Convert the amount of a rotation of feeding roller into pulse by rotary encoder, and count the pulse by electronic counter. An output signal is generated when the count has reached a preset number, then the feeding roller stops and the hammer drives at once. The hammer stops and waits at top dead centre till next tacking position come by synchronous control of proximity switch and dog disc attached on the crank shaft. Spacing Rolled Materials Rotary encoder Servo motor Filler Electronic counter Rotary encoder Motor Control board Programmable cam Motor Roller mill Along with the programmable cam, the rotary encoder controls the timing of filling containers, their positions and the timing of transferring filled containers. The use of the cam switch and the encoder allows easy positioning and quick adjustment of machines. As the threaded rod rotates, the material is fed according to a preset length. The number of rotations is converted to the number of pulses by the rotary encoder then counted by the electronic counter. When the count has reached a preset number, it stops the motor that controls the spacing. 7

8 ist Rotary Encoders ist of KOYO Rotary Encoders Series TRD-MX series TRD-S series Only the basic models are listed below. For other models, refer to the description of each series. TRD-S series Incremental TRD-2E series TRD-N series TRD-N series ollow shaft ollow shaft Appearance of basic model ø25 29 mm Diameter of shaft: ø4 mm ø38 30 mm Diameter of shaft: ø6 mm ø38 30 mm Diameter of the other shaft: ø8 mm ø40 36 mm Diameter of shaft: ø6 mm ø50 35 mm Diameter of shaft: ø8 mm ø50 35 mm Diameter of the other shaft: ø8 mm Features ø4-mm thick shaft and 29 mm body Source voltage: DC5~12V/12~24V/5V Small diameter lineup up to 24 P/R 0-kz high-speed response Slim design: ø38-mm outer diameter and 30- mm depth Small diameter lineup up to 2,500 P/R ow cost contributes to system-wide cost reductions. 200-kz high-speed response Wide range of resolutions Able to connect directly to the other shaft without using a coupling. Slim design: ø38-mm outer diameter and 30-mm depth Small diameter lineup up to 2,500 P/R ow cost contributes to system-wide cost reductions. 200-kz high-speed response Wide range of resolutions Slim design: ø40-mm outer diameter and 36-mm depth Small diameter lineup up to 2,500 P/R Dust and splash proofed 200-kz high-speed response Wide range of resolutions Small body with only 35 mm depth Protection options to meet environmental requirements Wide range of resolution ø8 mm thick reinforced shaft Source voltage ranging from 5 to 30 V Totem-pole output facilitating cable extension Able to connect directly to the other shaft without using a coupling. Slim design with only 35 mm depth Select protective design to suit operating environment. Wide range of resolutions Solid ø8-mm shaft Source voltage ranging from 5 to 30 V Totem-pole output facilitating cable extension Resolution 0~24 (pulse/revolution) to 2500 (pulse/revolution) to 2500 (pulse/revolution) to 3600 (pulse/revolution) 1 to 5000 (pulse/revolution) 1 to 5000 (pulse/revolution) Signal output Two-phase A and B + Phase Z Two-phase A and B + Phase Z Two-phase A and B + Phase Z Two-phase A and B + Phase Z One-phase Two-phase A and B + Phase Z One-phase Two-phase A and B + Phase Z Max. response frequency 0 kz 200 kz 200 kz 200 kz 0 kz 0 kz Max. allowable revolution 6000 rpm 6000 rpm 6000 rpm 5000 rpm 5000 rpm 5000 rpm Source voltage TRD-MX TRD-MX TRD-MX A:DC5~12V±% B:DC12~24V±% V: DC5V±5% TRD-S TRD-S TRD-S A: 5 to 12 VDC±% B: 12 to 24 VDC±% V: 5 VDC±5% TRD-S TRD-S TRD-S A: 5 to 12 VDC±% B:12 to 24 VDC±% V: 5 VDC±5% TRD-2E TRD-2E TRD-2E A: 5 to 12 VDC±% B:12 to 24 VDC±% V: 5 VDC±5% Excluding TRD-N V:4.75 to 30 VDC TRD-N V:5VDC± 5% Excluding TRD-N V:4.75 to 30 VDC TRD-N V:5VDC± 5% Output type NPN open collector output ine driver output NPN open collector output ine driver output NPN open collector output ine driver output NPN open collector output ine driver output Totem-pole output with partial load short circuit protection ine driver output Totem-pole output with partial load short circuit protection ine driver output Max. load to shaft Radial Thrust N 5 N 20 N N 20 N N 30 N 20 N 50 N 30 N 50 N 30 N Initial torque N m max N m max N m max N m max. Dust proof: N m max. Dust and splash proof: 0.02 N m max. Dust proof: N m max. Dust and splash proof: 0.05 N m max. Protection IP50: Dust proofed IP40: Simple dust proofed IP40: Simple dust proofed IP54: Dust and splash proofed IP50: Dust proofed IP65: Dust and splash proofed IP50: Dust proofed IP65: Dust and splash proofed Operating ~ +70 C temperature to +70 C to +70 C to +70 C to +70 C to +70 C Reference page

9 ist series TRD-GK series series series series Rotary Encoders ø50 50 mm Diameter of shaft: ø8 mm ø78 60 mm Diameter of shaft: ø mm ø50 35 mm Diameter of shaft: ø8 mm ø78 66 mm Diameter of shaft: ø mm ø78 66 mm Diameter of shaft: ø mm ø8 mm thick shaft and 50 mm body Vibration and shock resistant metal slit plate Source voltage ranging from 5 to 30 V Totem-pole output facilitating cable extension Strong shaft and durable bearing Quick response at 0 kz Operating temperature ranging from to +70 C Dust and splash proofed Totem-pole output facilitating cable extension positioning Dust and splash proofed Small body with only 35 mm depth Reinforced aluminum diecast casing Accurate Gray code Vibration and shock resistant metal slit plate positioning Resolution of up to bits or 1,024 Strong shaft and durable bearing Dust and splash proofed Accurate Gray code Vibration and shock resistant metal slit plate Side cable and connector for minimum space positioning Resolution of up to bits or 1,024 Reinforced aluminum diecast casing Dust and splash proofed Accurate Gray code Vibration and shock resistant metal slit plate to 00 (pulse/revolution) One-phase Two-phase A and B + Phase Z to 5000 (pulse/revolution) (BZ: 0 to 5000 pulse/revolution) Two-phase A and B + Phase Z (BZ: Normal/Reverse + Phase Z) 32 to 2048 (resolution/revolution) 180 to 24 (resolution/revolution) 180 to 24 (resolution/revolution) Gray binary code (11 bits max.) Gray binary code ( bits max.) Gray binary code ( bits max.) 50 kz 0 kz 20 kz 20 kz 20 kz 5000 rpm 5000 rpm 3000 rpm 5000 rpm 5000 rpm Excluding : 4.75 to 30 VDC V: 5 VDC±5% to 30 VDC.8 to 26.4 VDC.8 to 26.4 VDC to 30 VDC Totem-pole structure preventing partial load short circuit ine driver output Totem-pole structure preventing load short circuit Open collector NPN or PNP Open collector NPN Open collector NPN 50 N 0 N 50 N 0 N 70 N 30 N 50 N 30 N 50 N 40 N Dust proof: N m max. Dust and splash proof: 0.05 N m max. IP50: Dust proofed IP65: Dust and splash proofed 0.1 N m max N m max. 0.1 N m max. 0.1 N m max. IP65: Dust and splash proofed IP65: Dust and splash proofed IP65: Dust and splash proofed IP65: Dust and splash proofed to +50 C to +70 C to +60 C to +50 C to +60 C

10 TRD-MX Series Incremental Encoders Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK Features Small body with 25mm outer diameter/29mm depth/4mm shaft diameter. Resolution 1,024P/R. Output type open collector and line driver. Pulse 0, 200, 360, 500, 512, 600, 00, 24P/R Source voltage DC5 to 12V/12 to 24V/5V Max allowable revolution 6000rpm Signal output type 2 phase output and ome position Output type NPN open collector output ine driver output Protection IP50(Dust proofed) ist of model numbers Shaft Model numbering system Series Pulse/revolution TRD- MX Pulse and frequencies Pulse/revolution Max. response frequency (kz)* Applicable models Electrical specifications Output Appearance TRD-MX TRD-MX TRD-MX Output voltage Output current oad power voltage lnflow Outflow Model A: Source voltage 4.5 to 13.2 VDC, open collector output B: Source voltage.8 to 26.4 VDC, open collector output V: Source voltage 4.75 to 5.25 VDC, line driver output Model TRD-MX A TRD-MX B TRD-MX V Power source voltage 4.5 to 13.2 VDC.8 to 26.4 VDC 4.75 to 5.25 VDC Power source Allowable ripple 3% rms max. 3% rms max. Current consumption 50 ma max. 50 ma max. Signal waveform Two-phase + home position Two-phase + home position Maximum response frequency (Max response frequency/revolution)x60 (Max response frequency/revolution)x60 Duty ratio 50 ± 25% 50 ± 25% Phase difference width 25 ± 12.5% 25 ± 12.5% Signal width at home position 0 ± 50% 0 ± 50% Rise / Fall time 2 µs max. (when cable length is 1 m at max. load) 2 µs max. (when cable length is 1 m at max. load) Output type NPN open collector output ine-driver* Output logic A B V Model number TRD-MX TRD-MX TRD-MX A B V Source voltage 4.5 to 13.2 VDC A Negative logic (active low) 0.4 V max..8 to 26.4 VDC 4.75 to 5.25 VDC 30 ma max. 30 VDC max Output 2-phase with home position in reverse operation 2-phase with home position in forward operation * Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/pulse) 60 The encoder does not respond to revolution faster than the maximum speed. Output type Open collector output ine driver output Positive logic (active high) 2.5 V min. 0.5 V max. 20mA max. Pulse/revolution 0,200,360,500, 512,600,00,24, * Equivalent to 26C31, lever is equivalent to 26C32.

11 TRD-MX series Mechanical specifications Initial torque N m (+20 C) max. Moment of inertia 1 7 kg m 2 Radial : N Allowable load Thrust : 5N Environmental requirements Ambient temperature +70 C Storage temperature C Operating humidity 35 to 85% R (with no condensation) Voltage withstand Removed for capacitor earth Rotary Encoders Maximum allowable speed (Note 1) 6000 rpm Insulation resistance 20 MΩ min. Cable External diameter ø5 mm 5-wire oil resistant PVC cable Nominal section area of core: 0.14 mm 2 (ine driver output: 8 cores, 0.14 mm 2 ) Weight Approx. 80 g Note 1: ighest speed that can support mechanical integrity of the encoder OUT A OUT B Channel timing chart TRD-MX TRD-MX OUT Z TRD-MX OUT A OUT B OUT Z A B Normal revolution T(0%) V a b c d Normal revolution T(0%) a b c d Reverse revolution T(0%) d c b a Reverse revolution T(0%) d c b a a, b, c, =1/4T±1/8T "Normal" means clockwise revolution viewed from the shaft. External Dimensions Vibration resistance Shock resistance Protection Open collector output circuit Main circuit Power source Outputs A, B and Z 0 V shield (ground) ine driver output circuit 26C31 or equivalent OUT Power source 4.75 to 5.25 VDC OUT A/B/Z OUT A/B/Z 0V The line driver can use a RS-422A compliant twisted pair cable of up to 1,200 m. ine driver (26C31 or equivalent) Shield Internal circuit OUT Terminator resistance: Several tens to hundreds Ω Output signal turns to "" level when the cable or connector is disconnected. 26C31 26C32 "" Disconnected Durable for one hour along three axes at to 55 z with 0.75 mm amplitude 11 ms with 490 m/s 2 applied three times along three axes IP50 (Dust and splash proofed) ine driver (26C32 or equivalent) Open collector connections Shielded cable is not connected to the encoder body. Blue: 0 V Brown: Power source Black: OUT A White: OUT B Orange: OUT Z Shield: Ground ine driver connections Shielded cable is not connected to the encoder body. Brown: Power source Blue: 0 V Black: OUT A Purple: OUT A White: OUT B Gray: OUT B Orange: OUT Z Yellow: OUT Z Shield: Ground (in mm) TRD-GK TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental 11

12 TRD-S/S Series Incremental Encoders Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK Features Shaft and ollow Shaft type are available. Small body with 38mm diameter and 30mm depth. Compact design but the lineup reaches 2,500P/R. Protection degree IP40. (simple dust proof) ist of model numbers Shaft ollow shaft Appearance Model number TRD-S TRD-S TRD-S TRD-S TRD-S TRD-S Model numbering system TRD- S Series S: Shaft S: ollow shaft Pulse/revolution Pulse and frequencies Pulse/revolution Max. response frequency (kz)* Applicable models Electrical specifications Power source Signal waveform Duty ratio Model Phase difference width Power source voltage Allowable ripple Current consumption Maximum response frequency A B V A B V Source voltage 4.5 to 13.2 VDC.8 to 26.4 VDC 4.75 to 5.25 VDC 4.5 to 13.2 VDC.8 to 26.4 VDC A 4.75 to 5.25 VDC Output 2-phase with home position in reverse operation 2-phase with home position in forward operation 2-phase with home position in reverse operation 2-phase with home position in forward operation Output type Open collector output ine driver output Open collector output ine driver output Model A: Source voltage 4.5 to 13.2 VDC, open collector output B: Source voltage.8 to 26.4 VDC, open collector output V: Source voltage 4.75 to 5.25 VDC, line driver output 4.5 to 13.2 VDC.8 to 26.4 VDC 3% rms max. 50 ma max. Two-phase + home position Pulse/revolution *, 20, 30, 40, 50, 60, 0, 200, 250, 300, 360, 400, 500, 512, 600, 800, 00, 24, 1200, 2000, to 5.25 VDC 50 ma max. 200 kz 200 kz 50 ± 25% 50 ± 25% 25 ± 12.5% 25 ± 12.5% Signal width at home position 0 ± 50% 0 ± 50% Output TRD-S A/TRD-S A TRD-S B/TRD-S B Rise / Fall time Output type Output logic Output voltage Influx current oad power voltage TRD-S A / TRD-S A TRD-S B / TRD-S B 1 µs max. (when cable length is 1 m) NPN open collector output Negative logic (active low) TRD-S V/TRD-S V * Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/pulse) 60 The encoder does not respond to revolution faster than the maximum speed TRD-S Two-phase + home position ine-driver* 2.5 V min. 0.4 V max. 0.5 V max. 30 ma max. 30 VDC max V / TRD-S Positive logic (active high) V * Equivalent to 26C31, lever is equivalent to 26C32. 12

13 TRD-S/S series Mechanical specifications Initial torque N m (+20 C) max. Moment of inertia kg m 2 Radial:20 N Allowable load Thrust: N Environmental requirements Ambient temperature to +70 C Storage temperature 25 to +85 C Operating humidity 35 to 85% R (with no condensation) Voltage withstand 500 VAC (50 z/60 z) for one minute Rotary Encoders Maximum allowable speed (Note 1) 6000 rpm Insulation resistance 50 MΩ min. Cable External diameter ø5 mm 5-wire oil resistant PVC cable Nominal section area of core: 0.14 mm 2 (ine driver output: 8 cores, 0.14 mm 2 ) Weight Approx. 0 g Note 1: ighest speed that can support mechanical integrity of the encoder OUT A OUT B Channel timing chart TRD-S A/TRD-S A TRD-S B/TRD-S B OUT Z OUT A OUT B OUT Z Normal revolution T(0%) a b c d TRD-S V/TRD-S V Normal revolution T(0%) a b c d Reverse revolution T(0%) d c b a Reverse revolution T(0%) d c b a a, b, c, =1/4T±1/8T "Normal" means clockwise revolution viewed from the shaft. External Dimensions TRD-S A/TRD-S B/TRD-S V Vibration resistance Shock resistance Protection Open collector output circuit Main circuit Power source Outputs A, B and Z 0 V shield (ground) ine driver output circuit 26C31 or equivalent OUT Power source 4.75 to 5.25 VDC OUT A/B/Z OUT A/B/Z 0V The line driver can use a RS-422A compliant twisted pair cable of up to 1,200 m. ine driver (26C31 or equivalent) Shield Internal circuit OUT Terminator resistance: Several tens to hundreds Ω Output signal turns to "" level when the cable or connector is disconnected. 26C31 26C32 "" Disconnected TRD-S Durable for one hour along three axes at to 55 z with 0.75 mm amplitude 11 ms with 490 m/s 2 applied three times along three axes Simple dust protection: IP40 ine driver (26C32 or equivalent) A/TRD-S Open collector connections Shielded cable is not connected to the encoder body. Blue: 0 V Brown: Power source Black: OUT A White: OUT B Orange: OUT Z Shield: Ground ine driver connections Shielded cable is not connected to the encoder body. B/TRD-S V Brown: Power source Blue: 0 V Black: OUT A Purple: OUT A White: OUT B Gray: OUT B Orange: OUT Z Yellow: OUT Z Shield: Ground (in mm) TRD-GK TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental φ A 6 2 M3 mounting holes φ28 φ38 φ φ φ φ12 φ8 0 2 M3 Section A A Four M3 screws holes (Depth: 6) Installation surface A ø28 15 Bore diameter: ø ø28 45 Bore diameter: ø Bore diameter: 2-ø3.5 Mounting Point shape Axial shift ess than φ M3 Perpendicular axial shift Cable diameter ø5 Standard 1 m 0.08 R22.5 Blade spring mounting point Mounting hole panel cutout (3 holes) Bore diameter: 3-ø3.5 Mounting hole panel cutout (2 holes)

14 Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK TRD-2E Series Incremental Encoders Features Small body with 40 mm diameter and 36 mm depth Protection against reverse connection and short circuit Protection degree IP54 (dust and splash proof) ist of model numbers Shaft Appearance Model number TRD-2E TRD-2E TRD-2E Model numbering system TRD- 2E Series 2E: Shaft Pulse/revolution Pulse and frequencies Pulse/revolution Max. response frequency (kz)* Applicable models TRD-2E A TRD-2E B Electrical Specifications Power source TRD-2E Singnal waveform Output V Model number A B V 40 4 Source voltage 4.5 to 13.2 VDC.8 to 26.4 VDC to 5.25 VDC A Output 2-phase with home position in reverse operation 2-phase with home position in forward operation Output type Open collector output ine driver output Model A: Source voltage 4.5 to 13.2 VDC, open collector output B: Source voltage.8 to 26.4 VDC, open collector output V: Source voltage 4.75 to 5.25 VDC, line driver output * Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/pulse) 60 The encoder does not respond to revolution faster than the maximum speed. Operating voltage* 1 Allowable ripple Current consumption Signal type Max. response frequency Max. response revolution Duty ratio Signal width at hope position Rise/Fall time Output type Output logic Output current Output voltage Inflow Outflow "" "" oad power voltage Short circuit protection * 1 To be supplied by Class II source. TRD-2E A/B A: 4.75 to 13.2VDC B:.8 to 26.4VDC ess than 3% rms ess than 50mA Two-phase + home position 200kz TRD-2E V 4.75 to 5.25VDC ess than 3% rms ess than 50mA Two-phase + home position 200kz (Max. response frequency/resolution) x 60 (Max. response frequency/resolution) x % % % 0+ 50% ess than 1µs (when cable length is 1m) NPN open collector output ine driver output (equivalent to 26C31) Negative logic (active low) Max. 30mA 0.4V max. ess than 30VDC Positive logic (active high) 2.5V min. 0.5V max. Between output and power source Pulse/revolution *, 20, 30, 40, 50, 60, 0, 200, 240, 250, 300, 360, 400, 500, 512, 600, 800, 00, 24, 1200, 2000,

15 TRD-2E series Mechanical specifications Initial torque 0.01 N m (+20 C) max. Moment of inertia kg m 2 Radial:20 N Allowable load Thrust:20 N Environmental requirements Ambient temperature to +70 C Storage temperature 25 to +85 C Operating humidity 35 to 85% R (with no condensation) Voltage withstand 500 VAC (50 z/60 z) for one minute Rotary Encoders Maximum allowable speed (Note 1) 5000 rpm Insulation resistance 50 MΩ min. Cable External diameter ø5 mm 5-wire oil resistant PVC cable Nominal section area of core: 0.14 mm 2 (ine driver output: 8-wire, 0.14 mm 2 ) Weight Approx. 1 g (with 1m cable) Note 1: ighest speed that can support mechanical integrity of the encoder Vibration resistance Shock resistance Protection Durable for one hour along three axes at to 55 z with 0.75 mm amplitude 11 ms with 490 m/s 2 applied three times along three axes Dust and splash proof : IP54 Channel timing chart Open collector output circuit Open collector connections TRD-2E OUT A OUT B OUT Z TRD-2E OUT A OUT B OUT Z OUT A OUT B A/B V T a b c d T a b c d Main circuit Power source Outputs A, B and Z 0 V shield (ground) ine driver output circuit 26C31 or equivalent Power source 4.75 to 5.25 VDC OUT A/B/Z OUT A/B/Z 0V Shielded cable is not connected to the encoder body. Blue: 0 V Black: OUT A White: OUT B Orange: OUT Z Shield: Ground ine driver connections Brown: Power source Shielded cable is not connected to the encoder body. Brown: Power source Blue: 0 V Black: OUT A Purple: OUT A White: OUT B Gray: OUT B Orange: OUT Z Yellow: OUT Z Shield: Ground TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental OUT Z a, b, c, d = 1/4 + 1/8T TRD-GK Normal means clockwise revolution viewed from the shaft. External Dimensions Three M3 screw holes (Depth: 7) (in mm) ø40 ø ø ø Cable diameter ø5 Standard 1 m 9 15

16 TRD-N/N Series Incremental Encoders Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK Features Shaft and ollow Shaft type are available. Compact body with 50mm diameter and 35mm depth. Wide range of resolution from 1 to 5,000P/R. Protection degree IP50 (dust proof) or IP65(Dust and splash prrof). Wide voltage ranging from 4.75 to 30VDC. Servo mounting is available for easy installation ist of model numbers Dust proofed ABS plastic cover Dust and splash proofed Aluminium die-cast cover Dust proof hollow shaft ABS plastic cover Dust and splash proof ollow shaft Aluminium die-cast cover Appearance Model number TRD-N -S TRD-N TRD-N TRD-N TRD-N TRD-N TRD-N TRD-N -RZ -RZ -SW -RZW -RZW TRD-N -S TRD-N TRD-N TRD-N TRD-N TRD-N TRD-N TRD-N -RZV -RZVW -RZ -RZ -RZV -SW -RZW -RZW -RZVW One-phase Output Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position in normal operation One-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position in normal operation One-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position in normal operation One-phase Model numbering system TRD- N - RZ W- Series N : Shaft N : ollow shaft Pulse/revolution Output signal S : One-phase RZ : Two-phase with home position in normal operation RZV : ine driver output Protection Blank : Dust proofed (IP50) W : Dust and splash proofed (IP65) ome position reverse operation symbol If output signal is RZ, model numbers with "" are home position reverse operation type. (Available options) Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position in normal operation Pulse/revolution 1, 3, 4, 5,, 20, 30, 60, 0, 120, 200, 300, 360, 500, 600, 00 3, 4, 5,, 20, 30, 40, 50, 60, 0, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 00, 1200, 2000, 2500, 3600, , 3, 4, 5,, 20, 30, 60, 0, 120, 200, 300, 360, 500, 600, 00 3, 4, 5,, 20, 30, 40, 50, 60, 0, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 00, 1200, 2000, 2500, 3600, , 3, 4, 5,, 20, 30, 60, 0, 120, 200, 300, 360, 500, 600, 00 3, 4, 5,, 20, 30, 40, 50, 60, 0, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 00, 1200, 2000, 2500, 3600, , 3, 4, 5,, 20, 30, 60, 0, 120, 200, 300, 360, 500, 600, 00 3, 4, 5,, 20, 30, 40, 50, 60, 0, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 00, 1200, 2000, 2500, 3600,

17 TRD-N/Nseries Pulse and frequencies Pulse/revolution Max. response frequency (kz) TRD-N -S TRD-N -S TRD-N -RZ Applicable models TRD-N -RZ TRD-N -RZ TRD-N -RZ Specifications Power source Output wave form Output Initial torque Model number Moment of inertia Allowable load Cable Weight Power source voltage Allowable ripple Current consumption (no load) Output signal type Duty ratio Signal width at home position Rise/Fall time Output type Output current Output voltage oad power voltage Mechanical specifications Maximum allowable speed (Note 1) Ambient temperature Storage temperature Operating humidity Voltage withstand Insulation resistance Vibration resistance TRD-N TRD-N to +70 C 25 to +85 C -RZV -RZV Outflow Inflow 35 to 85% R (with no condensation) * Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/pulse) 60 The encoder does not respond to revolution faster than the maximum speed. 2 6 kg m 2 TRD-N -S TRD-N -RZV TRD-N -RZ /TRD-N -RZ TRD-N -S TRD-N -RZV TRD-N -RZ /TRD-N -RZ 4.75 to 30 VDC 3% rms max. 40 ma max. One-phase 50 ± 25% (square wave) 3μ s max. Totem-pole ma max. 30 ma max. [(oad power voltage) 2.5 V] min. 0.4 V max. 35 VDC max to 5.25 VDC 3% rms max. 60 ma max. Two-phase + home position 50 ± 25% (square wave) 0 ± 50% 2 μs max. ine driver output 2.5V min. 0.5V max to 30 VDC 3% rms max. 60 ma max. Two-phase + home position 50 ± 25% (square wave) 0 ± 50% 3 μs max. Totem-pole ma max. 30 ma max. [(oad power voltage) 2.5 V] min. 0.4 V max. 35 VDC max. Dust proof: N m max. (+20 C), Dust and splash proof: 0.02 N m max. (+20 C), ollow shaft: 0.05 N m max. (+20 C) Radial: 50 N Thrust: 30 N Environmental requirements 5000 rpm (Dust and splash proofed: Continuous: 3000 rpm, Instantaneous: 5000 rpm) External diameter: ø6 mm 5-wire oil resistant PVC cable Nominal section area of core: 0.3 mm 2 (ine driver output : 8 cores, 0.14mm 2 ) Approx. 150 g (Dust and splash proofed: Approx. 200 g) Note 1: ighest speed that can support mechanical integrity of the encoder 500 VAC at 50/60 z for 1 min Excluding shield between power 50 MΩ min. supply, signal cable, and case. Durable for one hour along three axes at to 55 z with 0.75 mm amplitude ife of bearing ife ( 9 revolution) 1 Thrust load (N) Rotary Encoders TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental TRD-GK Shock resistance Protection Metal slit plate at 500 P/R or less: 11 ms with 981 m/s 2 Glass slit plate at 600 P/R or more: 11 ms with 490 m/s 2 Applied three times along three axes IP50: Dust proofed IP65: Dust and splash proofed Radial load (N) 17

18 TRD-N/Nseries Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders Channel timing chart Totem-pole output OUT A OUT B OUT Z Output circuit T 0% a b c d T a, b, c, d =1/4T± 1/8T 50% T 150% The above waveforms apply to normal (clockwise) revolution viewed from the shaft. OUT Z phase is reversed on the RZ and RZW models. ine driver output OUT A OUT B OUT Z Normal revolution T 0 a b c d The above waveforms apply to normal (clockwise) revolution viewed from the shaft. Reverse revolution T 0 d c b a Current consumption (ma) connector is disconnected. Electrical characteristics (typical) C Source voltage Disconnected Terminal assignment One-phase: TRD-N -S : TRD-N -S RZ S 30V 26C32 Shielded cable is not connected to the encoder body. Blue: 0 V Brown: Power source Black: OUT A White: (Not connected) Orange: (Not connected) Shield: Ground TRD-GK Totem-pole output Main circuit circuit Power source +5 to 30 VDC between each output 0V terminal) 0V Two-phase with home position: TRD-N -RZ /RZ : TRD-N -RZ /RZ Blue: 0 V Brown: Power source Black: OUT A White: OUT B Orange: OUT Z Shield: Ground ine driver output 26C31 or equivalent Power source to 5.25 VDC OUT A B Z OUT A B Z ine driver output TRD-N TRD-N -RZV -RZV Brown : Power source Blue 0V pair cable of up to 1,200m. 0V Black OUT A Purple OUT A White OUT B 26C31 or equivalent Internal cirsuit OUT OUT shield Several tens to hundreds Ω 26C32 or equivalent Gray OUT B Orange OUT Z Yellow OUT Z Shield : Ground 18

19 TRD-N/Nseries Dimensions TRD-N Series (shaft type) Dust proofed: S / RZ / RZ / RZV ABS cover (in mm) Rotary Encoders ø40 ø40 Oil seal ø50.4 ø45 ø50 ø45 ø ø Three M3 screw holes (Depth: 5) ø ø Three M3 screw holes (Depth: 5) 0.5 Installation surface Dust and splash proofed: SW / RZW / RZW / RZVW Installation surface Aluminium die-cast cover 17 max. Oil proofed cable ength: 0.5 m Oil proofed cable ength: 0.5 m ø40 ø Bore diameter: 3-ø3.5 M3-8 hexagon socket head cap screws (three screws attached to the encoder) TRD-GK TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental Servo mount metal fixture Three M4 0.7 screw holes Bore diameter: ø ø64 Panel Screw (M4-12) (Attached to the mounting metal) 39 (37.5)* 2.5 Mounting cramp Flange NF-55 (Option) ø55 ø40 Bore diameter ø30.2 A A A A Bore diameter ø3.2 ø55 Servo mount metal fixture NM-9 Attachment to optional flange Optional flange * Dust proofed type C2 Bore diameter ø

20 Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK TRD-N/Nseries Dimensions TRD-N Series (hollow shaft) (49.5) (48) Dust proofed : S / RZ / RZ / RZV 8 (depth: ø ) 4 4 ø ø ø13 ø50.4 ø60 ø13 ø50 ø60 Two M3 screw holes Two M3 screw holes Two M3 screw holes ABS cover Dust and splash proofed : SW / RZW / RZW / RZVW 8 (depth ø ) Two M3 screw holes Oil proofed cable ength: 0.5 m Aluminium die-cast cover Mounting part 8 max ø Shaft direction variation Shaft angle direction variation Degree of mounting surface angle over shaft. 17 max. R30 60 in: mm M3 tap screw Oil proofed cable ength: 0.5 m 20

21 Series Incremental Encoders Features ong-lasting disign of ø8mm shaft in ø50mm body. Durable metal slit plate. Protection degree IP50 (dust proof) or IP65 (dust and splash proof). Wide voltage ranging from 4.75 to 30 VDC. ist of model numbers With rear cable Dust and splash proofed With connector Dust and splash proofed with connector With side cable Dust and splash proofed with side cable Appearance Model number -S -RZ -RZ -RZV -SW -RZW -RZW -RZVW -SC -RZC -RZC -RZVC -SCW -RZCW -RZCW -RZVCW -SS -RZS -RZS -RZVS -SWS -RZWS -RZWS -RZVWS Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 One-phase Output Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position and line driver One-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position and line driver One-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position and line driver One-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position and line driver One-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position and line driver One-phase Model numbering system TRD- J - RZ VW- Series Pulse/revolution Output signal S: One-phase/RZ: Two-phase with home position in normal operation Output type Blank: Totem-pole/V: ine driver Connection Blank: Rear cable W: Dust and splash proofed/c: Connector/CW: Dust and splash proofed with connector S: Side cable/ws: Dust and splash proofed with side cable ome position reverse operation symbol If output signal is RZ, model numbers with "" are home position reverse operation type. (Available options) Two-phase with home position in normal operation Two-phase with home position in reverse operation Two-phase with home position and line driver Note: Consult your Koyo dealer for delivery period. Pulse / revolution * pulse is only available with one-phase * 21 Rotary Encoders TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental TRD-GK

22 series Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders Pulse and frequencies Applicable models Pulse/revolution Max. response frequency (kz)* -S -RZ -RZV Electrical specifications Power source Output wave form Output Model Power source voltage Allowable ripple Current consumption (no load) Output signal type Duty ratio Signal width at home position Rise/Fall time Output Output current Output voltage Outflow Inflow to 30 VDC 3% rms max S ma (See "Electrical Characteristics".) max. One-phase 50 ± 25% (square wave) 3 μs (Max. Cable 50 cm) max. Totem-pole ma max. 30 ma max [(oad power voltage) 2.5 V] min. 0.4 V max * Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/pulse) 60 The encoder dows not respond to revolution faster than the maximum speed to 30 VDC 3% rms max. Output standard TT 5V TT TT oad power voltage 30 VDC max. 30 VDC max. -RZ 60 ma (See "Electrical Characteristics".) max. Two-phase + home position 50 ± 25% (square wave) 50 to 150% 3 μs (Max. Cable 50 cm) max. Totem-pole ma max. 30 ma max. [(oad power voltage) 2.5 V] min. 0.4 V max to 5.25 VDC -RZV 3% rms max. 130 ma max. Two-phase + home position 50 ± 25% (square wave) 50 to 150% 2 μs (Max. Cable 50 cm) max. ine-driver* 2.5 V max. 0.5 V max. * Equivalent to 26S31 (Output signal is compatible to TT) TRD-GK Mechanical specifications Initial torque Moment of inertia Allowable load Maximum allowable speed (Note 1) Service life of bearing Cable N m (+20 C) max. (Dust and splash proofed: Min N m) 2 6 kg m 2 Radial: 50 N Thrust: 30 N 5000 rpm (Dust and splash proofed: 3000 rpm) 5 9 revolution (calculated value at the maximum load) External diameter ø5 mm (W type: ø6 mm) 5-wire oil resistant PVC cable Nominal section area of core: 0.3 mm 2 (ine driver output: 8 cores, 0.14 mm 2 ) Weight 220 g (with 0.5 m cable) max. Note 1: ighest speed that can support mechanical integrity of the encoder Environmental requirements Ambient temperature to +50 C Storage temperature 25 to +85 C Operating humidity 35 to 85% R (with no condensation) Voltage withstand 500 VAC for one minute (between terminals and case) Insulation resistance 50 MΩ min. Vibration resistance Durable for one hour along three axes at to 55 z with 0.75 mm amplitude Shock resistance 11 ms with 490 m/s 2 applied three times along three axes IP50: Dust proofed Protection IP65: Dust and splash proofed 22

23 series Totem-pole output -S / -RZ Channel timing chart One-phase: -S OUT A 50±2% OUT A OUT B OUT Z 0% Two-phase with home position: 90±45 Normal revolution 50±25% 0% 50~150% (RZ) (RZ) Reverse revolution "Normal" means clockwise revolution viewed from the shaft. Output circuit Totem-pole output: OUT Power source 4.75 to 30 VDC A/B/Z Outflow current: ma max. Inflow current: 30 ma max. -RZ Current consumption (ma) Electrical characteristics Current consumption characteristics Source voltage Terminal assignment One-phase: -S Pin out of connector A B C F E D Rear view RZ S 30V Shielded cable is not connected to the encoder body. Green: OUT A White: Not connected Yellow: Not connected Red: Power source Black: 0 V Shield: Ground Pin code A: OUT A B: Not connected C: Not connected D: Power source E: 0V F: Not connected TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental Rotary Encoders The above circuit can be applied to voltage output or open collector output as follows: Voltage output 0V Sensor power source IN + Two-phase with home position: Green: OUT A White: OUT B Yellow: OUT Z -RZ Red: Power source Black: 0 V TRD-GK Open collector output 0 V Sensor power source IN 0 V Counter + Pin out of connector A B C F E D Rear view Shield: Ground Pin code A: OUT A B: OUT B C: OUT Z D: Power source E: 0 V F: Not connected Counter 23

24 series Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders ine driver -RZV Channel timing chart Two-phase with home position: 0% 50±25% 90±45 OUT A A OUT B B OUT Z Z 50 to 150% "Normal" means clockwise revolution viewed from the shaft. Output circuit ine driver Output -RZV Power source 4.75 to 5.25 VDC 26S31 or equivalent OUT A/B/Z OUT A/B/Z Terminal assignment Pin out of connector A G B F C E D Rear view Shielded cable is not connected to Blue: OUT A Blue/Black: OUT A White: OUT B White/Black: OUT B Yellow: OUT Z Yellow/Black: OUT Z Red: Power source Black: 0 V Shield: Ground Pin code A: OUT A B: OUT A C: OUT B D: OUT B E: OUT Z F: OUT Z G: Power source : 0 V TRD-GK OUT 0 V The line driver can use a RS-422A compliant twisted pair cable of up to 1,200 m. ine driver (26S31 or equivalent) Shield ine driver (26S32 or equivalent) Internal circuit OUT Terminator resistance: Several tens to hundreds Ω Output signal turns to "" level when the cable or connector is disconnected. 26S31 26S32 Disconnected 24

25 series External Dimensions With side cable ø ø30 ø (in mm) Rotary Encoders ø40 Dust and splash proofed (W) With connector (C) ø40 ø40 ø40 3-M3 0.5 screw holes (Depth: 6) ø50 0 ø ø50 0 ø ø ø ø ø30 ø M3 0.5 screw holes (Depth: 6) 60 3-M3 0.5 screw holes (Depth: 6) Dust and splash proofed with connector (CW) 60 3-M3 0.5 screw holes (Depth: 6) Oil proofed cable (Standard length: 0.5 m) max. 12 Oil proofed cable (Standard length: 0.5 m) 12 Metal connector 12 Waterproof metal connector Model numbers of connectors Totem-pole (S /RZ ) Body: R03-R6F Cable: R03-PB6M (Attached) ine driver (RZV ) Body: R03-R8F Cable: R03-PB8M (Attached) (made by Tajima Musen) * Section area: Max. 0.3 mm 2 Diameter of cable duct : ø6.2 Model numbers of connectors Totem-pole (S /RZ ) Body: R04-R6F Cable: R04-P6M (Attached) ine driver (RZV ) Body: R04-R8F Cable: R04-P8M (Attached) (made by Tajima Musen) * Section area: Max. 0.3 mm 2 Diameter of cable duct : ø6.2 TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental TRD-GK With side cable (S) ø ø30 ø ø40 Dust and splash proofed with side cable (WS) 3-M3 0.5 screw holes (Depth: 6) Oil proofed cable (Standard length: 0.5 m) Oil proofed cable (Standard length: 0.5 m) 25 max. ø40 ø50 ø ø M3 0.5 screw holes (Depth: 6)

26 TRD-GK Series Incremental Encoders Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK Features Tough spindle withstand large load (radial 0N, thrust 50N), durable bearing lasts for 1.2x revolustions Quick response and wide range of operating temperature. ( C to +70 C) Protection degree IP65 (dust and splash proof) Totem-pole output allows longer cable extension Servo mounting is available for easy installation. ist of model numbers Dust and splash proofed with rear cable type Dust and splash proofed with connector type Appearance Model numbering system Model number TRD-GK -R TRD-GK TRD-GK TRD-GK TRD-GK TRD-GK TRD-GK TRD-GK -RZ -RZ -BZ -RC2 -RZC2 -RZC2 -BZC2 Two-phase Output Two-phase with home position in normal operation Two-phase with home position in reverse operation Normal/Reverse detection and home position in normal operation Two-phase Two-phase with home position in normal operation Two-phase with home position in reverse operation TRD- GK - RZ C2 - Series Pulse/revolution Output signal R : Two-phase RZ: Two-phase with home position in normal operation BZ: With Normal/Reverse detection Connection Blank: Rear cable C2:Connector ome position reverse operation symbol If output signal is RZ, model numbers with "" are home position reverse operation type. (Available options) Normal/Reverse detection and home position in normal operation Pulse/revolution, 12, 15, 50, 60 30, 0, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 00, 1200, 1500, 1800, 2000, 2500, 3600, , 60, 0, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 00, 1200, 1500, 1800, 2000, 2500, 3000, 3600, 4000, 5000, 12, 15, 50, 60 30, 0, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 00, 1200, 1500, 1800, 2000, 2500, 3600, , 60, 0, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 00, 1200, 1500, 1800, 2000, 2500, 3000, 3600, 4000,

27 TRD-GK series Pulse and frequencies Pulse/revolution Max. response frequency (kz)* TRD-GK -R Applicable models TRD-GK -RZ TRD-GK -BZ Pulse/revolution Max. response frequency (kz)* Applicable models TRD-GK -R TRD-GK -RZ TRD-GK -BZ Electrical specifications Power source Output wave form Output Model number Power source voltage Allowable ripple Current consumption (lo load) Output signal Duty ratio Signal width at home position Rise/Fall time Output type Output current Output voltage Outflow Inflow to 30 VDC 3% rms max * Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency / pulse) 60 The encoder does not respond to revolution faster than the maximum speed. TRD-GK -R /-RZ TRD-GK -BZ At less than 16 VDC: 50 ma max./at 16 VDC or more: 70 ma max. R: Two-phase/RZ: Two-phase + home position 50 ± 25% At 400P or less: 25 to 150%/At 500P or more: 1 ± 0.5 (1800P, 3600P, 5000P: 50 to 150%) 3 μs (Cable: 2 m or shorter) max. Totem-pole 30 ma max. 30 ma max. [(Power source voltage) 4 V] min. 2 V max. to 30 VDC 3% rms max. At less than 16 VDC: 50 ma max./at 16 VDC or more: 70 ma max. Normal/Reverse detection + home position to 60% (2001P or more: 50 ±25%) At 400P or less: 25 to 150%/At 500P or more: 1 ± 0.5 (60P, 3600P: 0 to 300%, 1800P: 50 to 150%) 3 μs (Cable: 2 m or shorter) max. Totem-pole 30 ma max. 30 ma max. [(Power source voltage) 4 V] min. 2 V max. TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental Rotary Encoders oad power voltage 35 VDC max. 35 VDC max. Mechanincal specifications Environmental requirements * ome position is not generated on the R model. TRD-GK Initial torque 0.1 N m (+20 C) max. Ambient temperature to +70 C Moment of inertia Allowable load Maximum allowable speed (Note 1) 1 5 kg m 2 Radial: 0 N Thrust: 50 N 5000 rpm Storage temperature Operating humidity Voltage withstand Insulation resistance 25 to +85 C 35 to 85% R (with no dewing) 500 VAC for one minute 50 MΩ min. Excluding shield between power supply, signal cable, and case. Service life of bearing 1.2 revolutions (at maximum allowable load) External diameter: ø6 mm Cable 5-wire oil resistant PVC cable Nominal section area of core: 0.3 mm 2 Rear cable type: Approx. 600 g (with 2 m cable) Weight Connector type: Approx. 500 g Note 1: ighest speed that can support mechanical integrity of the encoder Vibration resistance Shock resistance Protection At 500P or less: 0.75 mm At 600P or more: 0.35 mm At 500P or less: 11 ms with 980 m/s 2 At 600P or more: 11 ms with 294 m/s 2 IP65: Dust and splash proofed Durable for one hour along X, Y, and Z axes at to 55 z Applied three times along X, Y, and Z axes 27

28 TRD-GK series Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders TRD-GK Channel timing chart 2-phase output: TRD-GK -R/-RZ OUT A OUT B OUT Z CW CCW OUT Z 1P a b c d a 1P Forward rotation a, b, c, d = (1/4±1/8) P e: 400 P or less: 25 to 150% 500 P or more: 1 ± 0.5 e Forward rotation e (RZ) (RZ) b Reverse rotation (At 1,800, 3,600, 5000 pulses only: 50 to 150%) * OUT Z generates home position in both directions. * OUT Z is not included in the R model. Normal/Reverse detection: TRD-GK a = (1/4±1/8) P b 1/4P e: 400 P or less: 25 to 150% 500 P or more: 1 ± 0.5 -BZ Reverse rotation (At 60, 3,600 P: 0 to 300%, 1,800 P: 50 to 150%) * OUT Z generates home position in both directions. * OUT Z is not included in the R model. Output circuit Totem-pole output: Power source to 30 VDC OUT Outflow current: 30 ma max. Totem-pole output is compatible with both voltage output and open collector output. For connection examples, refer to page 21, Series. 0 V Inflow current: 30 ma max. Terminal assignment TRD-GK -R Pin out of connector Rear view TRD-GK -RZ Pin out of connector Rear view TRD-GK -BZ Green: OUT A White: OUT B Yellow: Not connected Red: Power source Black: 0 V Shield: Ground Pin number 1: OUT A 2: OUT B 3: Not connected 4: Power source 5: 0 V 6: Shield Green: OUT A White: OUT B Yellow: OUT Z Red: Power source Black: 0 V Shield: Ground Pin number 1: OUT A 2: OUT B 3: OUT Z 4: Power source 5: 0 V 6: Shield Green: CW (Normal revolution) White: CCW (Reverse revolution) Yellow: OUT Z Red: Power source Black: 0 V Shield: Ground current consumption (ma) Electrical characteristics (typical) V Source voltage BZ R/RZ Pin out of connector Rear view Pin number 1: CW 2: CCW 3: OUT Z 4: Power source 5: 0 V 6: Shield 28

29 TRD-GK series External Dimensions With rear cable 90 ±0.5 4-M4 0.7 screw holes (Depth: 12) max. (in mm) Rotary Encoders ø6±0.1 With connector (C2) 90 ø ø72 ø56 ø42 ø ø78 ø72 ø ø42 ø 1 4-M4 0.7 screw holes (Depth: 12) Oil proofed cable (Standard length: 2 m) 13 max Model numbers of connectors (option) Straight: BMCC-6 Angular: BAFC-6 TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental ø66 Servo mount metal fixture * Refer to page 38 for detailed descriptions of the options. TRD-GK Panel Bore diameter: ø ø90 KM-9 attachments (option) M5 0.8 screw holes 3-M5 0.8 screws Mounting cramp C2 Bore diameter: ø5.5 29

30 Series Encoders Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders Features Small body with ø50 mm diameter and 35 mm depth Dust and splash proofed with reinforced aluminum diecast casing ø8 mm strong stainless steel shaft Accurate Gray code 2 Metal slit with shock resistance of 980 m/s (Grass slit with 2048 type) ist of model numbers NPN output Note1 : "FC" is representing a Programmable Cam (except FC-21). Blank TRD-GK Blank Blank 30

31 series 70 ma max.(0ma max. for 2048 resolution) Rotary Encoders (NPN Output) (PNP Output) ife of bearing 12-core oil resistant PVC cable TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental TRD-GK 31

32 series Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders Three M4 0.7 screw holes Three M3 screw holes Mounting cramp TRD-GK 32

33 Series Encoders TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental Rotary Encoders 12-core oil resistant PVC cable Environmental requirements Voltage withstand TRD-GK 33

34 series Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders Channel timing chart TRD-GK 34

35 series External Dimensions With side cable ( YS) 4-M4 0.7 screw holes (Depth: 12) 90 ±0.5 Pin out of connector FC-21 connector Section view (in mm) Rotary Encoders max. Oil proof shielded cable (standard length 2 m) (42.3) FC-21 connector ( -YCS) Model: Made by onda MR-16/MR-16M ø ø42 ø56 ø72 ø78 Dust and splash proof side connector ( ø ø42 ø56 ø72 ø78 30 max. Extension cable connector (TRD- -YPS) Model: Made by irose RM15TPD-12P ø15 ø23 * Connector is not equipped with the cable for -YS -YC2) ø66 90 ø66 ø Color Signal name Color Pin number Pin number Signal name Purple Blue Green Yellow Orange Brown ight blue Pink White Gray Red Black Shield Vcc N.C. N.C. N.C. 0V GND Extension cable connector Section view Color Signal name Color Pin number Pin number Signal name Red Brown Orange Yellow Green Blue Vcc Purple Gray White Pink ight blue Black V 4-M4 0.7 screw holes (Depth: 12) Model numbers of connectors (options) Straight: BMCC-12 Angular: BAFC-12 * Refer to page 38 for detailed descriptions of the options. TRD-GK TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental Servo mount metal fixture Panel Bore diameter: ø KM-9 servo mount metal fixture (supplied) 5.1 Mounting cramp Screw (3-M5 0.8 screws) 3-M5 0.8 screw holes C2 Bore diameter: ø5.5 35

36 Series Encoders Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders Features Side cable and connector for minimum space Dust and splash proofed for operation not affected by water or oil ø mm strong stainless shaft and aluminum die-cast casing Accurate gray code output Shock resistant metal slit plate durable at 980 m/s Servo mounting is available for easy installation 2 Blank TRD-GK 12-core oil resistant PVC cable Voltage withstand 36

37 series Channel timing chart Rotary Encoders TRD-GK TRD-N/N TRD-2E TRD-S/S TRD-MX Incremental 37

38 series Incremental TRD-N/N TRD-2E TRD-S/S TRD-MX Rotary Encoders External Dimensions 90 ±0.5 ø90 15 Servo mount metal fixture ±0.1 4-M4 0.7 screw holes (Depth: 6) Bore diameter: ø ø66± ø78 ø72 ø56 ø42 ø 1 Panel With cable ( -Y) m long oil proofed cable Cable connector (option) KM-9 metal attachments (option) 15 With connector ( -YC2) 5.1 (in mm) TRD-GK 3-M5 0.8 screw holes 3-M5 0.8 screws Mounting Bore diameter: ø5.5 cramp 18 9 C2 2 38

39 39

40 Characteristic specifications and options Rotary Encoders Characteristic Specifications Characteristic details onger or shorter cable Modified cable ends (with connectors) Applicable models TRD-S/S TRD-2E TRD-N/N TRD-GK Non-standard pulse onger shaft Thicker or thinner shaft Reverse rotation (The count increases in counterclockwise revolution.) Options Bracket Please be aware of mounting direction. Couplings RU-075 : Four M3 screw holes JU-0/RU-0 : Four M5 screw holes (Torque : RU-075 : 0.7N m, JU-0/RU-0 : 3.6N m) Two M3 screw holes (Torque: 1.5 N m) GJ-6: Four M3 screw holes (Torque: 0.25 N m) GJ-8/GJ-: Four M4 screw holes (Torque: GJ-8: 0.4 N m, GJ-: 0.45 N m) 2E 2E 40

41 Special characteristics and options Rotary Encoders Model: Made by onda MR-16/MR-16M Model: Made by irose RM15TPD-12P 31 Used with absolute rotary encoders, the programmable cam precisely position processing machines. Applicable processes include assembling, printing, pressing and packaging. A wide variety of models are available to suit your needs. 41

42 Mechanism of absolute rotary encoder Rotary Encoders 42

43 Mechanism of absolute rotary encoder Rotary Encoders Gray to binary conversion by PC Between and D4-450,440/D2-250,240 Gray to binary conversion by PC is restricted by its program execution speed. At 20 ms/scan, set the encoder speed to 8 rpm or less. 43

44 Mechanism of absolute rotary encoder Rotary Encoders Between and D2-230 Gray to binary conversion by PC is restricted by its execution speed. At 20 ms/scan, set the encoder speed to 8 rpm or less. 44