LM13 linear magnetic encoder system

Transcription

1 Data sheet LM13D02_04 Issue 4, 5 th January 2017 LM13 linear magnetic encoder system mm ,000 Distance coded reference Track system The LM13 is a contactless high-speed linear magnetic system designed for use in harsh environments. The system consists of a compact readhead and a separate selfadhesive magnetic scale. Simple to install, the LM13 features an integral set-up LED on the readhead, wide installation tolerances and an applicator tool for the adhesivebacked magnetic scale. bidirectional reference is provided that can be actuated either by a preset mark integrated within the scale or by adding a reference sticker on top of the scale with the help of a self-aligning installation tool. The encoders come with a range of digital or analogue output variants and offer a range of customer selectable resolutions from µm to 250 µm. The LM13 is capable of velocities up to 80 m/s; even at 1 µm resolution it is capable of 7.5 m/s. Engineered for extreme service, the solid-state LM13 linear encoder operates from 10 C to +80 C, sealing to IP68 and is highly resistant to shock, vibrations and pressure. The robust magnetic scale is also resistant to a range of chemicals commonly found in industry. The non-contact, frictionless design eliminates wear while reducing hysteresis. The LM13 linear encoder system brings reliable solutions to tough, hard-working applications including woodworking, stone-cutting, sawing, metalworking, textiles, printing, packaging, plastics processing, automation and assembly systems, laser/flame/water-jet cutting, electronic assembly equipment etc. Compact readhead Stick-on High speed operation Excellent dirt immunity Integral set-up LED xis lengths of up to 100 m High reliability from proven noncontact sensing technology Industry standard digital and analogue output options Repeatability inside resolution CE compliant, including RoHS - see Declaration of conformity

2 Data sheet LM13D02_04 Storage and handling > 60 mm N S WRNING: The MS magnetic scale should not be exposed to magnetic field densities higher than 50 mt on its surface. Magnetic fields higher than 50 mt can damage the scale. Motor oil Brake fluid Turpentine Kerosene ntifreeze Heptane Benzene Toluene Ketone H 2 SO 4 HCl lcohol * * Use of alcohol for cleaning is considered safe, however, it is not allowed to immerse the scale in alcohol. Electrical connections Customer electronics Inner shield Extension cable 5 V Output signals Outer shield 0 V 2

3 Dimensions Dimensions and tolerances in mm. R20min dynamic R10min static 4min 36 Ø4.2 ± D H Thread M3 through 4 17 Sensor position Incremental sensor side 10 Reference sensor side NOTE: Ensure recommended M3 readhead fixing screws are tightened to 0.5 Nm to 0.7 Nm. No cover foil, cut or magnetised No cover foil, stick-on With cover foil, cut or magnetised With cover foil, stick-on Magnetic scale thickness (D) Ride height (H) With back adhesion* Without back adhesion* Maximum range Recommended range** 1.5 ± ± ± ± ± ± ± ± * See MS10 part numbering on page 10 for more information on the options available. ** For greater ride heights please see LM15 linear encoder system (LM15D01). Installation tolerances Ride height Lateral offset H Pitch ±3 ±1 Roll ±3 Yaw ±1 3

4 Data sheet LM13D02_04 Technical specifications System data Maximum measuring length of MS scale Pole length vailable resolution and maximum speed Ordering code 50 m (100 m special order) 2 mm For analogue voltage output: 20 m/s (for spec. option 20 max. speed is 80 m/s) For digital output signals: ccuracy grade for MS scales ±20 µm (available for lengths up to 50 m only) and ±40 µm Linear expansion coefficient of MS scale ~ /K Repeatability Hysteresis Mass Cable data Voltage drop over cable Cable Environmental Resolution (µm) Counts / 2 mm Better than unit of resolution for movement in the same direction < 4 µm up to 0.5 mm ride height Readhead (1 m cable, no connector) 80 g, Cable (1 m) 34 g Magnetic scale (1 m) 60 g, Cover foil (1 m) 3.5 g ~ 13 mv/m without load ~ 54 mv/m with 120 Ω load Ø4.2 ± 0.2 mm, PUR high flexible cable, drag-chain compatible, double-shielded 8-wire cable; white wire: 1x 26 WG (19x 0.1 mm strands), other wires: 7x 30 WG (7x 0.1 mm strands) Durability: 20 million cycles at 25 mm bend radius Special option 07: 12-wire cable, Ø4.5 ±0.2 mm; 12x 28 WG (7x 0.13 mm strands) Temperature Operating 10 C to +80 C (cable under non-dynamic conditions: 20 C to +85 C) Storage 40 C to +85 C Environmental sealing IP68 (according to IEC 60529) EMC Immunity IEC (particularly: ESD: IEC ; EM fields: IEC ; Burst: IEC ; Surge: IEC ; Conducted disturbances: IEC ; Power frequency magnet fields: IEC ; Pulse magnetic fields: IEC ) EMC Interference IEC (for industrial, scientific and medical equipment: IEC 55011) Vibrations (55 Hz to 2000 Hz) 300 m/s 2 (IEC ) Shocks (11 ms) 300 m/s 2 (IEC ) Maximum speed (values in grey for spec. option 20) (m/s) 13B , B , B , D0 1 2, D , B , D0 2 1, D B / D / D / D / / B / / D / / D / / B / / D / / D / / B / / / D / / B / / / / B n/a 20 / / / / B n/a n/a 20 / / / / / Minimum edge separation (μs) Maximum count frequency (MHz) Ordering code K B C D E F G H 4

5 LM13V and LM13S* Incremental analogue output signals (1 V pp ) 2 channels V 1 and V 2 differential sinusoidals (90 phase shifted) Power supply ** Power consumption Voltage drop over cable 4.7 V to 7 V voltage on readhead Reverse polarity protection < 50 m Output signals V 1, V 2, V 0 Sine / cosine signals Reference signal Termination Cable length ** ~ 13 mv/m without load ~ 54 mv/m with 120 Ω load mplitude (with 120 Ω termination) 0.6 V pp to 1.2 V pp Phase shift 90 ±0.5 mplitude (with 120 Ω termination) Position V pp to 1.2 V pp Width 22.5 for V output 360 ± 180 for S* output Z 0 = 120 Ω between associated outputs 50 m max. Timing diagram (V 1 +) (V 1 ) 0 V (V 2 +) (V 2 ) 0 V For V (V 0 +) (V 0 ) 0 V For S* (V 0 +) (V 0 ) 0 V 360 electrical ± ± ± V pp 1.2 V pp with 120 Ω termination 0.8 V pp 1.2 V pp with 120 Ω termination 0.8 V pp 1.2 V pp with 120 Ω termination * S output type is compatible with controllers (eg. Siemens, Fanuc) with 1 V pp encoder inputs. S output type cannot be used with stick-on reference or cut. S output type has limitations in sensing distance (ride height), lateral offset and roll Recommended signal termination (see page 3). ** Please consider voltage drop over cable. V 0 V 1 V 2 + Connections 120 Ω Function Signal Colour (option F) 15 pin D type plug (option L) 9 pin D type plug (option ) 9 pin D type plug (option P) V 0 V 1 V 2 Power nalogue signals Reference signals Shield 5 V Brown V White V 1 Green V 1 Yellow V 2 Blue V 2 Red V 0 Pink V 0 Grey Inner Outer Case Case Case 5

6 Data sheet LM13D02_04 LM13IC Digital output signals, RS422 Square wave differential line driver to RS422 Power supply * Power consumption Voltage drop over cable Power supply rise time Response time ** Output signals Reference signal Signal level 4.7 V to 7 V voltage on readhead Reverse polarity protection < 35 m ~ 13 mv/m without load ~ 54 mv/m with 120 Ω load < 1 ms (for PRG option only) < 100 ms < 10 µs (special option 02) 3 square-wave signals, B, Z and their inverted signals, B, Z 1 or more square-wave pulse Z and its inverted pulse Z Differential line driver to EI standard RS422: U H 2.5 V at I H = 20 m U L 0.5 V at I L = 20 m Permissible load larm Switching time (10 to 90 %) Cable length * Z Ω between associated outputs I L 20 m max. load per output Capacitive load 1000 pf Outputs are protected against short circuit to 0 V and to +5 V Only one output shorted at a time High impedance on output lines, B,, B Special option 02: larm is not signalled by high impedance state ** Special option 07: larm signal is output parallel as line driver signal t+, t < 30 ns (with 1 m cable and recommended input circuit) Max. 100 m * Please consider voltage drop over cable. ** See description on page 8. Recommended signal termination Readhead B Z+ Customer electronics Timing diagram Complementary signals not shown Edge separation (µs) Resolution (µm) Cable Z 0 = 120R 120R B Z B Z Connections Function Signal Colour (option F) 15 pin D type plug (option D) 9 pin D type plug (option ) 15 pin HD type plug (option H) 7 pin DIN EN plug (option U) Power Incremental signals Reference signals larm Shield 5 V Brown V White Green Yellow B Blue B Red Z Pink Z Grey E Violet E Black 3 3 Inner Outer Case Case Case Case Programming (for IC output only) Readheads can be ordered preset to the required resolution or provided so that they can be programmed as needed on the machine to the chosen resolution. This programming is carried out by connecting the readhead to a computer via a programming interface. The readhead must be ordered with the PRG resolution option to use this function. For more information on the programming function of LM13 readheads, please refer to the UPRG01 programming interface datasheet. 6

7 Reference mark Reference marks can be provided in 4 ways: 1) Selected at point of order. The LM13 readhead should be ordered with option. Magnetic scale should be ordered with and in the case of magnetised reference an additional letter M should be added to the end of the scale ordering code. If required, the cover foil can be installed over s. Cut Magnetised NOTE: The shape and position of the cut or magnetised reference are critical so these options are only available as factory order. 2) Stick-on. The LM13 readhead should be ordered with option. Magnetic scale should be ordered with no. fter installation of the scale and optionally cover foil a sticker can be applied at the required position using the applicator tool. Ensure that the reference sticker is oriented to the corresponding side of the readhead as shown on the drawing below. Ordering code: LM10SRM00 3) Tool for custom selectable. The LM13 readhead should be ordered with option. Magnetic scale should be ordered with no. Operator can magnetise in a position to suit the application. Ordering code: LM10CRM00 4) Periodic reference impulse. Every 2 mm. The LM13 readhead should be ordered with option C. Magnetic scale should be ordered with no. Position information is output in incremental quadrature format with periodic reference impulses. Reference periods correspond to pole length of magnetisation. Distance coded s. The LM13 readhead should be ordered with option. The distance coded option provides multiple s that are individually spaced according to specific mathematical algorithm. bsolute position is calculated after traversing 2 succesive s. Maximum length and minimal traverse depend on basic spacing (K) between s, which is customer selectable at point of order. For further information please refer to Distance coded data sheet (LM10D17). K K MS10/-WWYY-BB-2000-NNN K/2 K/2 + 2 mm K/2-2 mm K/2 + 4 mm K/2-4 mm K/2 + 6 mm K + 2 mm K + 2 mm 6 mm K - 4 mm K/2 K + 2 mm L max Multiple s. For cut s on multiple locations on the MS magnetic scale please contact RLS for a special part numbering. 7

8 Data sheet LM13D02_04 Positive direction Digital output signals leads B Status LED nalogue output signals (1 V pp ) V 1 leads V 2 fter the installation of the magnetic scale (see LM13 Installation guide) the readhead can be easily adjusted on the machine using the set-up LED indicator. When special option 07 (additional alarm outputs) is selected status of LED is available also by additional lines (HI = green LED, LO = red LED). LED Status Possible reason Green Good signal strength/set-up - Red Red/green flashing Poor signal strength - adjustment required, B, -, B- become high impedance IC, IC_02: poor signal strength Incorrect readhead orientation. Readhead installation out of tolerance. Demagnetisation of measuring scale. Insufficient power supply voltage. Response time LM13V/S LM13IC_02 LM13IC Set-up time 10 ms Conversion time <250 ns Transition time <10 µs <100 ms Set-up time is the time needed for the encoder readhead to start reading the position information after power-on (see diagram 1). Conversion time is the time needed for the encoder readhead to convert the position information into an output signal. Transition time is the time it takes the encoder readhead to switch from an alarm state to a valid output signal (see diagram 2). Diagram 1: Set-up time Diagram 2: Transition time Power supply voltage LM13IC LM13V/S LM13IC_02* B Z Status LED B Z Status LED High impedance red not valid red <10 ms BZ valid green BZ valid green Sensor/scale coverage LM13IC LM13V/S LM13IC_02* B Z Status LED B Z Status LED High impedance red not valid red BZ valid High NV impedance green red <100 ms BZ valid not valid green red <10 µs <10 µs * In alarm state LED flashes red/green. 8

9 Readhead part numbering LM13 system = Readhead + Scale Readhead part number eg LM13IC2D0C10F00 Magnetic scale part number eg MS10B1000B0032 or MS10BM100M032 for lengths below 1 m LM13 IC 2D0 C 10 F 00 Output type S - nalogue voltage 1V pp, wide reference pulse, 5 V (only with magnetised reference) V - nalogue voltage, 1 V pp ; 5 V IC - Incremental, RS422; 5 V Resolution/interpolation factor For S and V: N/ For IC: 13B B B D (1 μm) 1D B D (2 μm) D B D D (5 μm) D B D (10 μm) D B D (20 μm) D B - 64 D04-40 (50 μm) 05B B - 16 (125 µm) 03B - 8 (250 µm) PRG - Programmable, preset to 1 μm (for IC only) For resolutions in µm see table on page 4. Minimum edge separation For S and V: - N/ For IC: K µs (15 MHz) µs (8 MHz) 2 B µs (2 MHz) C - 1 µs (1 MHz) D - 2 µs (0.5 MHz) E - 4 µs (0.25 MHz) F - 5 µs (0.2 MHz) G - 10 µs (0.1 MHz) H - 20 µs (0.05 MHz) Special requirements 00 - No special requirements (standard) 02 - Shortened reaction time (for IC; not available for PRG option) 07 - dditional alarm output (for IC; not available for PRG option) 20 - High speed version (only available for certain resolutions and frequencies; see page 4) 0M - Cable length in meters Connector option - 9 pin D type plug 5 D - 15 pin D type plug (for IC) F - Flying lead (no connector) 3 H - 15 pin HD type plug (for IC) L - 15 pin D type plug (for V and S) P - 9 pin D type plug (for V and S) U - 7 pin DIN EN plug (for IC) 5 Cable length m (standard) (eg m cable and m cable if special option 0M is chosen) Reference - With reference sensor 1 B - No reference sensor 4 C - Periodic reference impulse as per scale pitch (every 2 mm) 4 1 Not available with 03B and 04B interpolation factors. 2 Default for PRG option; not available with 03B interpolation factor. 3 The PRG option comes with a plastic connector. 4 Not available with S output type. 5 Not available with special option 07. 9

10 Data sheet LM13D02_04 Magnetic scale part numbering Dimensions in mm Hole to hole distance 1 Scale length 3 ±0.5 Ends prepared for end clamping (option C) Measuring length 2 Positive counting 3.5 ± ±0.2 End clamp 10 Min. distance of from left edge Position of MS10/-WWYY-BB-2000-NNN Cut or magnetised 10 End clamp Min. distance of from right edge 1 Hole to hole distance = scale length + 6 ±1 mm (for end clamp mounting) 2 Measuring length = scale length - 17 mm MS10 B 1000 B 0032 ccuracy grade - ±20 µm B - ±40 µm Scale length xxxx - Where xxxx equals scale length in cm Mxxx - Where xxx equals scale length in mm (for scale lengths below 1 m) Options - VHB back-adhesive tape (standard) B - VHB back-adhesive tape, with cover foil* C - VHB back-adhesive tape, ends prepared for end clamping G - No VHB back-adhesive tape, sides prepared for insertion into track section 2 H - No VHB back-adhesive tape, sides prepared for insertion into track section, with cover foil 2 I - No back-adhesive tape N - No back-adhesive tape, with cover foil* P - No back-adhesive tape, ends prepared for end clamping Reference mark No xxxx - Cut ; Where xxxx equals position of machined in cm ( position will be within ±0.5 mm from requested position)** Mxxx - Cut ; Where xxx equals position of machined in mm (for scale lengths below 1 m)** Dxxx - Distance coded ; where xxx equals basic increment in mm 1 xxxxm - Magnetised ; where xxxx equals position of magnetised in cm ( position will be within ±0.5 mm from requested position) MxxxM - Magnetised in mm; where xxx equals position of magnetised in mm ( position will be within ±0.5 mm from requested position) * Cover foil supplied separately. ** Not available for S output type. Cover foil part numbering Cover foil CF Width of cover foil CF08 - Width 8 mm (for TRS option only) 2 CF10 - Width 10 mm Foil length xxxx - Where xxxx equals foil length in cm 1 For details on DCRM system please refer to data sheet LM10D17 on 2 For details on TRS system please refer to data sheet LM10D18 on 10

11 ccessories part numbering Stick-on LM10SRM00 End clamp kit (2 clamps + 2 screws) LM10ECL00 pplicator tool for stick-on LM10RM00 Tool for custom selectable LM10CRM00 pplicator tool for magnetic scale and cover foil LM13SC00 Programmable interface UPRG01 USB encoder interface E201 Magnet viewer MM0001 ccessories for MS Track System Track section, 1.00 M TRS10000 Track section, 2.00 M TRS20000 Scale clamp TRE00400 Joining element TRE00401 Screw and washer TRC00 11

12 Head office RLS merilna tehnika d.o.o. Poslovna cona Žeje pri Komendi Pod vrbami 2 SI-1218 Komenda Slovenia T F E mail@rls.si Document issues Issue Date Page Corrections made New document New layout Ride height table added 3 Power consumption data updated 3, 4 nalogue output type added 5 DCRM added to options 6, 7 New connector options and DCRM, end clamp and track system options added to part numbering DCRM picture and RoHS added, description amended 2 Storage and handling and electrical connections added 3 Magnet scale thickness table amended 4 Technical specifications amended 5 S output added, V output description amended 6 IC output description amended 7 Reference mark description amended, CRM added 8 Set-up LED description amended, Response time added 9, 10 Part numbering amended 11 ccessories part numbering added RLS merilna tehnika d.o.o. has made considerable effort to ensure the content of this document is correct at the date of publication but makes no warranties or representations regarding the content. RLS merilna tehnika d.o.o. excludes liability, howsoever arising, for any inaccuracies in this document RLS d.o.o.