Rotary Encoders Catalog Vol.5.0

Transcription

1 Rotary Encoders Catalog Vol.5.0 Incremental Encoders TRD-S / TRD-2E / TRD-N / / TRD-GK / TRD-S / TRD-N Encoders TRD-NA / TRD-K / TRD-K Oil proofed cable (Standard length: 0.5 m) 48.5 ø50 ø ø max. ø40 3-M3 0.5 screws holes (Depth: 6) (depth ø ) 4 (48) ø ø13 ø50 Two M3 tap screws holes ø60 Two M3 mounting screws holes

2 Rotary Encoders Catalog Vol.5.0 Providing our customers with the best in value and technology

3 Specialist Rotary Encoders Select Freely to Suit Your Application Compact machinery and devices Compact metal case Series/Resolution Compact TRD-S series 10 to 2,500 pulses/rotation Compact TRD-2E series 10 to 2,500 pulses/rotation Diameter (mm) ø38 ø40 Environmentallyhardened IP54 Dust and splash proof IP65 Dust proof Dust and splash proof die-cast case with short circuit protection Model TRD-S TRD-2E Page P10 P12 TRD-S 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 P14 P14 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 10 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 P19 P19 P19 P19 Incremental encoder slit plate Connector connection Environmentallyhardened IP65 Connector Dust and splash proof connector - C - CW P19 P19 arge-scale machinery, equipment, and heavy industry arge and powerful shaft loads TRD-GK series 10 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 P24 P24 TRD-GK Directly connected to shaft without a coupling Compact hollow shaft TRD-S series 10 to 2,500 pulses/rotation ø38 Shaft diameter ø8 Standard applications Dust proof plastic case TRD-S P10 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 P14 P14 TRD-N Outputs absolute position signal depending on rotation angle Compact machinery and devices Compact TRD-NA 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 TRD-NA TRD-NA E P28 P28 TRD-NA type arge-scale machinery, equipment, and heavy industry arge and powerful shaft loads TRD-K 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 TRD-K TRD-K TRD-K -YS -YC2 -YPS P31 P31 P31 TRD-K encoder slit plate Specially-shaped cable and connectors to save space OK even in water-splashed environments arge-scale, environmentally hardened space-saving TRD-K 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 TRD-K -Y TRD-K -YC2 P34 P34 TRD-K 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 Custom-made specificationst Example of custom specifications Servomotor applications ø48vibration-resistant through shaft ø8 Through shaft 23 Ultra-fine hollow shaft ø35 Pulse counter absolute encorders ø35 Multi-turn absolute encorders General applications ø102 Operates in cold storaget ø78 Equipped with selfdiagnostic function ø68 Powerful load talent ø100 Powerful through load 1

4 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

5 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

6 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 TRD-NA 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

7 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) 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)

8 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

9 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 Electronic counter Motor Control board 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. Roller mill 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

10 ist Rotary Encoders ist of KOYO Rotary Encoders Series TRD-S series TRD-S series Only the basic models are listed below. For other models, refer to the description of each series. TRD-2E series Incremental TRD-N series TRD-N series ollow shaft ollow shaft Appearance of basic model 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 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 10 to 2500 (pulse/revolution) 10 to 2500 (pulse/revolution) 10 to 2500 (pulse/revolution) 1 to 2500 (pulse/revolution) 1 to 2500 (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 One-phase Two-phase A and B + Phase Z One-phase Two-phase A and B + Phase Z Max. response frequency 200 kz 200 kz 200 kz 100 kz 100 kz Max. allowable revolution 6000 rpm 6000 rpm 5000 rpm 5000 rpm 5000 rpm Source voltage TRD-S TRD-S TRD-S A: 5 to 12 VDC±10% B: 12 to 24 VDC±10% V: 5 VDC±5% TRD-S TRD-S TRD-S A: 5 to 12 VDC±10% B:12 to 24 VDC±10% V: 5 VDC±5% TRD-2E TRD-2E TRD-2E A: 5 to 12 VDC±10% B:12 to 24 VDC±10% V: 5 VDC±5% Excluding TRD-N V:4.75 to 30 VDC TRD-N V:5VDC 5% Excluding TRD-N TRD-N V:5VDC 5% V:4.75 to 30 VDC Output type 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 Radial 20 N 20 N 30 N 50 N 50 N to shaft Thrust 10 N 10 N 20 N 30 N 30 N Initial torque 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 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 temperature 10 to +70 C 10 to +70 C 10 to +70 C 10 to +70 C 10 to +70 C Reference page Price page

11 ist series TRD-GK series TRD-NA series TRD-K series TRD-K series Rotary Encoders ø50 50 mm Diameter of shaft: ø8 mm ø78 60 mm Diameter of shaft: ø10 mm ø50 35 mm Diameter of shaft: ø8 mm ø78 66 mm Diameter of shaft: ø10 mm ø78 66 mm Diameter of shaft: ø10 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 100 kz Operating temperature ranging from 10 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 10 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 10 bits or 1,024 Reinforced aluminum diecast casing Dust and splash proofed Accurate Gray code Vibration and shock resistant metal slit plate 10 to 1000 (pulse/revolution) One-phase Two-phase A and B + Phase Z 10 to 5000 (pulse/revolution) (BZ: 100 to 5000 pulse/revolution) Two-phase A and B + Phase Z (BZ: Normal/Reverse + Phase Z) 32 to 2048 (resolution/revolution) 180 to 1024 (resolution/revolution) 180 to 1024 (resolution/revolution) Gray binary code (11 bits max.) Gray binary code (10 bits max.) Gray binary code (10 bits max.) 50 kz 100 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% 10 to 30 VDC 10.8 to 26.4 VDC 10.8 to 26.4 VDC 10 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 100 N 50 N 100 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 10 to +50 C 10 to +70 C 10 to +60 C 10 to +50 C 10 to +60 C

12 TRD-S/S Series Incremental Encoders Incremental TRD-N/N TRD-2E TRD-S/S Rotary Encoders TRD-GK TRD-NA TRD-K TRD-K 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 Appearance Model number Source voltage Output Output type Pulse/revolution TRD-S A 4.5 to 13.2 VDC 2-phase with home position in reverse Open collector output TRD-S B 10.8 to 26.4 VDC operation * 10, 20, 30, 40, 50, 60, Shaft 2-phase with home 100, 200, 250, 300, TRD-S V 4.75 to 5.25 VDC position in forward ine driver output 360, 400, 500, 512, operation 600, 800, 1000, 1024, TRD-S A 4.5 to 13.2 VDC 2-phase with home position in reverse Open collector output 1200, 2000, 2500 ollow TRD-S B 10.8 to 26.4 VDC operation shaft 2-phase with home TRD-S V 4.75 to 5.25 VDC position in forward ine driver output operation 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 Model A: Source voltage 4.5 to 13.2 VDC, open collector output B: Source voltage 10.8 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 10.8 to 26.4 VDC 4.75 to 5.25 VDC 3% rms max. 50 ma max. 50 ma max. Two-phase + home position Two-phase + home position 200 kz 200 kz 50 ± 25% 50 ± 25% 25 ± 12.5% 25 ± 12.5% Signal width at home position 100 ± 50% 100 ± 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 10 oad power voltage TRD-S A / TRD-S A TRD-S B / TRD-S B TRD-S V / TRD-S V 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 ine-driver* 2.5 V min. 0.4 V max. 0.5 V max. 30 ma max. 30 VDC max Positive logic (active high) * Equivalent to 26C31, lever is equivalent to 26C32. 10

13 TRD-S/S series Mechanical specifications Initial torque Moment of inertia Allowable load Maximum allowable speed (Note 1) Cable N m (+20 C) max kg m 2 Radial:20 N Thrust:10 N 6000 rpm 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. 100 g Note 1: ighest speed that can support mechanical integrity of the encoder Channel timing chart TRD-S A/TRD-S A TRD-S B/TRD-S B OUT A OUT B OUT Z OUT A OUT B OUT Z Normal revolution T(100%) a b c d TRD-S V/TRD-S V Normal revolution T(100%) a b c d Reverse revolution T(100%) d c b a Reverse revolution T(100%) d c b a a, b, c, =1/4T±1/8T "Normal" means clockwise revolution viewed from the shaft. External Dimensions ø28 15 ø28 45 Four M3 screws holes (Depth: 6) Installation surface Bore diameter: ø Environmental requirements Ambient temperature Storage temperature Operating humidity Voltage withstand Insulation resistance Vibration resistance Shock resistance Protection Open collector output circuit Bore diameter: ø Main circuit Bore diameter: 2-ø3.5 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 10 to +70 C 25 to +85 C 35 to 85% R (with no condensation) 500 VAC (50 z/60 z) for one minute 50 MΩ min. 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 10 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) 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. TRD-S A/TRD-S B/TRD-S V TRD-S A/TRD-S B/TRD-S V Mounting Point shape Axial shift 12 ess than M3 mounting holes Perpendicular axial shift 2 M Section A A 15 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 3 (in mm) 30 Cable diameter ø5 Standard 1 m Blade spring mounting point TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Mounting hole panel cutout (3 holes) Bore diameter: 3-ø3.5 Mounting hole panel cutout (2 holes) 11

14 TRD-2E Series Incremental Encoders Incremental TRD-N/N TRD-2E TRD-S/S Rotary Encoders TRD-GK 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 Appearance Model number Source voltage Output Output type Pulse/revolution TRD-2E A 4.5 to 13.2 VDC 2-phase with home * 10, 20, 30, 40, 50, 60, position in reverse Open collector output 100, 200, 240, 250, TRD-2E B 10.8 to 26.4 VDC operation Shaft 300, 360, 400, 500, 2-phase with home 512, 600, 800, 1000, TRD-2E V 4.75 to 5.25 VDC position in forward ine driver output 1024, 1200, 2000, 2500 operation 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 TRD-2E V A Model A: Source voltage 4.5 to 13.2 VDC, open collector output B: Source voltage 10.8 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 TRD-NA TRD-K TRD-K Electrical Specifications Power source Singnal waveform Model number TRD-2E A/B TRD-2E V Operating voltage* 1 A: 4.75 to 13.2VDC 4.75 to 5.25VDC B: 10.8 to 26.4VDC 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 Output voltage Inflow Outflow "" "" oad power voltage Short circuit protection * 1 To be supplied by Class II source. ess than 3% rms ess than 3% rms ess than 50mA ess than 50mA Two-phase + home position Two-phase + home position 200kz 200kz (Max. response frequency/resolution) x 60 (Max. response frequency/resolution) x % % % % ess than 1µs (when cable length is 1m) NPN open collector output ine driver output (equivalent to 26C31) Negative logic (active low) Positive logic (active high) Max. 30mA 2.5V min. 0.4V max. 0.5V max. ess than 30VDC Between output and power source 12

15 TRD-2E series Mechanical specifications Initial torque Moment of inertia Allowable load Maximum allowable speed (Note 1) Cable 0.01 N m (+20 C) max kg m 2 Radial:20 N Thrust:20 N 5000 rpm 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. 110 g (with 1m cable) Note 1: ighest speed that can support mechanical integrity of the encoder Environmental requirements Ambient temperature Storage temperature Operating humidity Voltage withstand Insulation resistance Vibration resistance Shock resistance Protection 10 to +70 C 25 to +85 C 35 to 85% R (with no condensation) 500 VAC (50 z/60 z) for one minute 50 MΩ min. Durable for one hour along three axes at 10 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 OUT Z A/B V External Dimensions T a b c d T a b c d a, b, c, d = 1/4 + 1/8T Normal means clockwise revolution viewed from the shaft. Three M3 screw holes (Depth: 7) ø40 ø ø ø Main circuit Power source Outputs A, B and Z 0 V shield (ground) ine driver output circuit 26C31 or equivalent 5 36 Power source 4.75 to 5.25 VDC OUT A/B/Z OUT A/B/Z 0V 13 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 (in mm) TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Cable diameter ø5 Standard 1 m 9 13

16 TRD-N/N Series Incremental Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Features Shaft and ollow Shaft type are available. Compact body with 50mm diameter and 35mm depth. Wide range of resolution from 1 to 2,500P/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 Output Pulse/revolution 1, 3, 4, 5, 10, 20, 30, 60, 100, 120, TRD-N -S One-phase 200, 300, 360, 500, 600, 1000 TRD-N TRD-N -RZ -RZ Two-phase with home position in Two-phase with home position in 3, 4, 5, 10, 20, 30, 40, 50, 60, 100, 480, 500, 600, 750, 1000, 1200, normal operation reverse operation 120, 200, 240, 250, 300, 360, 400, 2000, 2500 TRD-N TRD-N TRD-N TRD-N TRD-N -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 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 1, 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, , 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000, , 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, , 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000, , 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, , 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000,

17 TRD-N/Nseries Pulse and frequencies 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 Maximum allowable speed (Note 1) Ambient temperature Storage temperature Operating humidity Voltage withstand Insulation resistance Vibration resistance 10 to +70 C 25 to +85 C Outflow Inflow 35 to 85% R (with no condensation) kg m 2 TRD-N -S TRD-N -RZV TRD-N -RZ /TRD-N -RZ TRD-N -S 4.75 to 30 VDC TRD-N -RZV TRD-N -RZ /TRD-N -RZ 4.75 to 5.25 VDC 4.75 to 30 VDC 3% rms max. 40 ma max. 3% rms max. 60 ma max. 3% rms max. 60 ma max. One-phase Two-phase + home position Two-phase + home position 50 ± 25% (square wave) 50 ± 25% (square wave) 50 ± 25% (square wave) 100 ± 50% 100 ± 50% 3 µs max. 2 µs max. 3 µs max. Totem-pole ine driver output Totem-pole 10 ma max. 10 ma max. 30 ma max. 30 ma max. [(oad power voltage) 2.5 V] min. 2.5V min. [(oad power voltage) 2.5 V] min. 0.4 V max. 0.5V max. 0.4 V max. 35 VDC 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 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 10 to 55 z with 0.75 mm amplitude Max. response frequency (kz) Applicable models Pulse/revolution Specifications TRD-N -S TRD-N -S TRD-N TRD-N TRD-N TRD-N TRD-N TRD-N -RZ -RZ -RZ -RZ -RZV -RZV Mechanical specifications Environmental requirements * 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. ife of bearing 10 ife ( 10 9 revolution) 1 Thrust load (N) TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental 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) 15

18 TRD-N/Nseries TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Channel timing chart OUT A OUT B OUT Z Output circuit T 100% 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. OUT A OUT B OUT Z T 100 a b c d The above waveforms apply to normal (clockwise) revolution viewed from the shaft. T 100 d c b a Electrical characteristics (typical) Current consumption (ma) Source voltage Disconnected Terminal assignment One-phase: TRD-N -S : TRD-N -S Two-phase with home position: TRD-N -RZ /RZ : TRD-N -RZ /RZ RZ S 30V Blue: 0 V Brown: Power source Black: OUT A White: (Not connected) Orange: (Not connected) Shield: Ground Blue: 0 V Brown: Power source Black: OUT A White: OUT B Orange: OUT Z Shield: Ground TRD-N -RZV TRD-N -RZV Shielded cable is not connected to the encoder body. 16

19 TRD-N/Nseries Dimensions TRD-N Series (shaft type) Dust proofed: S / RZ / RZ / RZV ø40 ø40 Oil seal Three M4 0.7 screw holes Bore diameter: ø ø50.4 ø45 ø50 ø45 ø64 ø ø Three M3 screw holes (Depth: 5) ø ø Three M3 screw holes (Depth: 5) Installation surface Dust and splash proofed: SW / RZW / RZW / RZVW Servo mount metal fixture ø55 Panel Screw (M4-12) (Attached to the mounting metal) Installation surface max. 39 (37.5)* 2.5 Mounting cramp ABS cover Oil proofed cable ength: 0.5 m Aluminium die-cast cover Oil proofed cable ength: 0.5 m ø40 Flange NF-55 (Option) ø55 ø40 Bore diameter ø30.2 A A 90 ø Bore diameter: 3-ø A A Bore diameter ø3.2 Attachment to optional flange (in mm) M3-8 hexagon socket head cap screws (three screws attached to the encoder) Servo mount metal fixture NM-9 TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Optional flange * Dust proofed type C2 Bore diameter ø

20 TRD-N/Nseries TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Dimensions TRD-N Series (hollow shaft) Dust proofed : S / RZ / RZ / RZV (49.5) (depth: ø ) 4 ø ø13 ø50.4 ø60 Two M3 screw holes Two M3 screw holes ABS cover Dust and splash proofed : SW / RZW / RZW / RZVW (48) (depth ø ) 4 ø ø13 ø50 ø60 Two M3 screw holes Two M3 screw holes 17 max. Oil proofed cable ength: 0.5 m Aluminium die-cast cover Oil proofed cable ength: 0.5 m Mounting part 8 max ø Shaft direction variation Shaft angle direction variation R30 60 in: mm Degree of mounting surface angle over shaft. M3 tap screw 18

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 Output Pulse / revolution -S One-phase -RZ Two-phase with home position in normal operation -RZ Two-phase with home position in reverse operation -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 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 V W - 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 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 is only available with one-phase * TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental ome position reverse operation symbol If output signal is RZ, model numbers with "" are home position reverse operation type. (Available options) 19

22 series TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental 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 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 10 ma max. 30 ma 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 voltage [(oad power voltage) 2.5 V] min. 0.4 V max. [(oad power voltage) 2.5 V] min. 0.4 V max. 2.5 V max. 0.5 V max. Output standard TT 5V 10TT 10TT oad power voltage 30 VDC max. 30 VDC max. 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) kg m 2 Radial: 50 N Thrust: 30 N 5000 rpm (Dust and splash proofed: 3000 rpm) 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 -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 10 ma max. 30 ma max. Ambient temperature Storage temperature Operating humidity Voltage withstand Insulation resistance Vibration resistance Shock resistance Protection 4.75 to 5.25 VDC -RZV 3% rms max. 130 ma max. Two-phase + home position 50 ± 25% (square wave) 50 to 150% Environmental requirements 2 µs (Max. Cable 50 cm) max. ine-driver* 50 * Equivalent to 26S31 (Output signal is compatible to TT) 10 to +50 C 25 to +85 C 35 to 85% R (with no condensation) 500 VAC for one minute (between terminals and case) 50 MΩ min. Durable for one hour along three axes at 10 to 55 z with 0.75 mm amplitude 11 ms with 490 m/s 2 applied three times along three axes IP50: Dust proofed IP65: Dust and splash proofed 20

23 series Totem-pole output -S / -RZ Channel timing chart One-phase: -S OUT A 50±2% OUT A OUT B OUT Z 100% Two-phase with home position: 90±45 Normal revolution 50±25% 100% 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 0V A/B/Z Outflow current: 10 ma max. Inflow current: 30 ma max. The above circuit can be applied to voltage output or open collector output as follows: Voltage output Open collector output Sensor power source IN 0 V Sensor power source IN Counter -RZ + + Electrical characteristics Current consumption characteristics Current consumption (ma) Source voltage Terminal assignment One-phase: -S Pin out of connector A B C A B C F E D Rear view F E D RZ S 30V 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 Two-phase with home position: Pin out of connector Rear view Shielded cable is not connected to the encoder body. Green: OUT A White: OUT B Yellow: OUT Z Red: Power source Black: 0 V Shield: Ground Pin code A: OUT A B: OUT B C: OUT Z D: Power source E: 0 V F: Not connected -RZ TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental 0 V Counter 21

24 series TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental ine driver Channel timing chart Two-phase with home position: OUT A A OUT B B OUT Z Z 50±25% 90±45 100% 50 to 150% "Normal" means clockwise revolution viewed from the shaft. Output circuit ine driver Output 26S31 or equivalent OUT OUT OUT A/B/Z OUT A/B/Z -RZV Power source 4.75 to 5.25 VDC 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) Internal circuit -RZV Shield ine driver (26S32 or equivalent) Terminator resistance: Several tens to hundreds Ω Output signal turns to "" level when the cable or connector is disconnected. 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 26S31 26S32 Disconnected 22

25 series External Dimensions With side cable ø40 Dust and splash proofed (W) With connector (C) ø40 ø40 ø40 ø40 ø ø30 ø8 ø50 0 ø ø50 0 ø ø50 ø ø ø ø30 ø ø30 ø ø50 ø ø M3 0.5 screw holes (Depth: 6) 60 3-M3 0.5 screw holes (Depth: 6) M3 0.5 screw holes (Depth: 6) Dust and splash proofed with connector (CW) With side cable (S) Dust and splash proofed with side cable (WS) 60 3-M3 0.5 screw holes (Depth: 6) 3-M3 0.5 screw holes (Depth: 6) Oil proofed cable (Standard length: 0.5 m) Oil proofed cable (Standard length: 0.5 m) max Oil proofed cable (Standard length: 0.5 m) Oil proofed cable (Standard length: 0.5 m) 25 max. Metal connector 12 Waterproof metal connector (in mm) 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-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental ø40 3-M3 0.5 screw holes (Depth: 6)

26 TRD-GK Series Incremental Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Features Tough spindle withstand large load (radial 100N, thrust 50N), durable bearing lasts for 1.2x10 10 revolustions Quick response and wide range of operating temperature. ( 10 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 Appearance Model number Output Pulse/revolution Dust and splash proofed with rear cable type Dust and splash proofed with connector type Model numbering system 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 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 Normal/Reverse detection and home position in normal operation 10, 12, 15, 50, 60 30, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 1000, 1200, 1500, 1800, 2000, 2500, 3600, , 60, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 1000, 1200, 1500, 1800, 2000, 2500, 3000, 3600, 4000, , 12, 15, 50, 60 30, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 1000, 1200, 1500, 1800, 2000, 2500, 3600, , 60, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600, 800, 1000, 1200, 1500, 1800, 2000, 2500, 3000, 3600, 4000, 5000 ome position reverse operation symbol If output signal is RZ, model numbers with "" are home position reverse operation type. (Available options) 24

27 TRD-GK series Pulse and frequencies Pulse/revolution Max. response frequency (kz)* Applicable models TRD-GK -R TRD-GK TRD-GK Pulse/revolution Max. response frequency (kz)* Applicable models TRD-GK -R TRD-GK TRD-GK 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 Outflow Inflow Output voltage oad power voltage -RZ -BZ -RZ -BZ 10 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. Mechanincal specifications Initial torque Moment of inertia Allowable load Maximum allowable speed (Note 1) Service life of bearing Cable Weight 0.1 N m (+20 C) max kg m 2 Radial: 100 N Thrust: 50 N 5000 rpm 35 VDC max revolutions (at maximum allowable load) External diameter: ø6 mm 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) Connector type: Approx. 500 g Note 1: ighest speed that can support mechanical integrity of the encoder 10 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 10 to 60% (2001P or more: 50 ±25%) At 400P or less: 25 to 150%/At 500P or more: 1 ± 0.5 (60P, 3600P: 100 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. 35 VDC max. Environmental requirements Ambient temperature Storage temperature Operating humidity Voltage withstand Insulation resistance Vibration resistance Shock resistance Protection 10 to +70 C 25 to +85 C * ome position is not generated on the R model. 35 to 85% R (with no dewing) 500 VAC for one minute 50 MΩ min. 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 Excluding shield between power supply, signal cable, and case. Durable for one hour along X, Y, and Z axes at 10 to 55 z Applied three times along X, Y, and Z axes TRD-2E Incremental Rotary Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-S/S 25

28 TRD-GK series TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental 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: 100 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 10 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. Electrical characteristics (typical) urrent consumption (ma) V Source voltage BZ R/RZ Terminal assignment TRD-GK -R Pin out of connector Rear view TRD-GK -RZ Pin out of connector Rear view TRD-GK -BZ Pin out of connector Rear view 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 Pin number 1: CW 2: CCW 3: OUT Z 4: Power source 5: 0 V 6: Shield 26

29 TRD-GK series External Dimensions With rear cable ø6± ±0.5 With connector (C2) ø66 90 Servo mount metal fixture Bore diameter: ø ø90 4-M4 0.7 screw holes (Depth: 12) ø78 ø72 ø56 ø78 ø72 ø ø42 ø M4 0.7 screw holes (Depth: 12) ø42 ø Panel Oil proofed cable (Standard length: 2 m) 25 max. 13 max (in mm) Model numbers of connectors (option) Straight: BMCC-6 Angular: BAFC-6 * Refer to page 38 for detailed descriptions of the options. TRD-2E Incremental Rotary Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-S/S KM-9 attachments (option) M5 0.8 screw holes 3-M5 0.8 screws Mounting cramp C2 Bore diameter: ø5.5 27

30 TRD-NA Series Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental 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 Blank Blank 28

31 TRD-NA series 70 ma max.(100ma max. for 2048 resolution) (NPN Output) (PNP Output) ife of bearing 12-core oil resistant PVC cable TRD-2E Incremental Rotary Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-S/S 29

32 TRD-NA series TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Three M4 0.7 screw holes Three M3 screw holes Mounting cramp 30

33 TRD-K Series Encoders 12-core oil resistant PVC cable Environmental requirements Voltage withstand TRD-2E Incremental Rotary Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-S/S 31

34 TRD-K series TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Channel timing chart 32

35 TRD-K series External Dimensions With side cable (TRD-K max. (42.3) Oil proof shielded cable (standard length 2 m) FC-21 connector (TRD-K -YCS) Model: Made by onda MR-16/MR-16M Panel -YS) ø10 ø42 ø56 ø72 ø78 Dust and splash proof side connector (TRD-K Servo mount metal fixture ø10 ø42 ø56 ø72 ø78 4-M4 0.7 screw holes (Depth: 12) 30 max. ø90 ø15 ø23 90 ±0.5 Extension cable connector (TRD- -YPS) Model: Made by irose RM15TPD-12P * Connector is not equipped with the cable for TRD-K -YS -YC2) ø66 Bore diameter: ø ø66 Pin out of connector FC-21 connector TRD-2E Incremental Rotary Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-S/S M4 0.7 screw holes (Depth: 12) 7 Section view Pin number Color Signal name Pin number Color Signal name Purple Blue Green Yellow Orange Brown ight blue Pink Extension cable connector Section view Model numbers of connectors (options) Straight: BMCC-12 Angular: BAFC-12 * Refer to page 38 for detailed descriptions of the options. 2 White Gray Red Black Shield Vcc N.C. N.C. N.C. 0V GND 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 KM-9 servo mount metal fixture (supplied) (in mm) C2 Mounting cramp Screw (3-M5 0.8 screws) 3-M5 0.8 screw holes Bore diameter: ø5.5 33

36 TRD-K Series Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental Features Side cable and connector for minimum space Dust and splash proofed for operation not affected by water or oil ø10 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 ist of model numbers 2 Voltage withstand Blank 12-core oil resistant PVC cable 34

37 TRD-K series Channel timing chart TRD-2E Incremental Rotary Encoders TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-S/S 35

38 TRD-K series TRD-K TRD-K TRD-NA TRD-GK TRD-N/N TRD-2E TRD-S/S Rotary Encoders Incremental External Dimensions 90 ± Servo mount metal fixture ø90 3-M5 0.8 screw holes ±0.1 4-M4 0.7 screw holes (Depth: 6) Bore diameter: ø ø66± ø78 ø72 ø56 ø42 ø10 1 Panel With cable (TRD-K -Y) m long oil proofed cable Cable connector (option) 3-M5 0.8 screws Mounting Bore diameter: ø5.5 cramp 18 9 C2 KM-9 metal attachments (option) 15 2 With connector (TRD-K -YC2) 5.1 (in mm) 36

39 Customized models Tables In addition to the standard models, KOYO offers customized products to the customer's requirements. Some examples are listed below. ollow-shaft incremental encoders Rotary Encoders Directly connected to the other shaft without coupling Resolution Max. response frequency Source voltage Output signal Output type Output current Source or voltage Sink Maximum allowable speed Ambient temperature To 1,000 P/R 50 kz 4.75 to 30 V Two-phase + home position Totem-pole 10 ma 30 ma 5000 rpm 10 to +50 C External dimensions: ø50 50 mm TRD-2V Series Through Shaft incremental encoders AC Servomotor with UVW Phases Resolution Max. response frequency Source voltage Output signal Output type Output current Source or voltage Sink Maximum allowable speed Ambient temperature 1000P/R 2000P/R 2500P/R 200 kz 5 V±0.25 V ABZ-phases + UVW-phases ine driver output : 2.5 V : 0.5 V 6000 rpm 10 to +85 C External dimensions: ø mm TRD-A Series absolute encoders igh resolution at 2048 P/R or 4098 P/R encoders Resolution Max. response frequency Source voltage Output signal Output type Output current Source or voltage Sink Maximum allowable speed Ambient temperature 2048P/R 4096P/R 20 kz 10.8 to 26.4 V Gray binary code NPN open collector 30 ma 5000 rpm 10 to +50 C External dimensions: ø72 70 mm 37

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 TRD-NA TRD-K TRD-K 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-100/RU-100 : Four M5 screw holes (Torque : RU-075 : 0.7N m, JU-100/RU-100 : 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-10: Four M4 screw holes (Torque: GJ-8: 0.4 N m, GJ-10: 0.45 N m) 2E 2E 38

41 Special characteristics and options Rotary Encoders Model: Made by onda MR-16/MR-16M Model: Made by irose RM15TPD-12P 29 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. 39

42 Mechanism of absolute rotary encoder Rotary Encoders 40

43 Mechanism of absolute rotary encoder Rotary Encoders Gray to binary conversion by PC Between TRD-NA 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. 41

44 Mechanism of absolute rotary encoder Rotary Encoders Between TRD-NA 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. 42