LMA10 absolute magnetic encoder system

Transcription

1 LM10D01_04 Issue 4, 5 th July 2016 LM10 absolute magnetic encoder system Track system LM10 is an absolute magnetic linear encoder system which has been designed for motion control applications as a position and velocity control loop feedback element. The encoder system is highly reliable due to contactless absolute measuring principle, built-in safety algorithms and high quality materials/components used. The measuring standard is a magnetic scale which consists of a stainless steel substrate with an elasto-ferrite layer. The elasto-ferrite layer is magnetised with two tracks. The incremental track is magnetised with 2 mm long (alternating south and north) poles and the absolute track is magnetised with a pseudo random binary sequence (PRBS) absolute code with 1 bit length. The elasto-ferrite layer is immune to chemicals commonly found in industry. The readhead incorporates Hall sensor arrays for PRBS track reading, an MR sensor for incremental track reading, interpolation electronics and custom logic circuitry. The data from the Hall arrays and interpolator are processed in the logic circuitry using special algorithms to determine the absolute position. The electronic design provides extremely short response and recovery times, which consequently make it ideal for applications with highly dynamic control loops. Diagnostic information is available through a serial communication channel and status LED. If a failure is diagnosed, the encoder needs to be switched off and then switched on again in order to resume functionality. True absolute system Suitable for highly dynamic control loops Small footprint High accuracy Resolutions up to µm xis lengths of up to 16. m Speeds up to 7 m/s at µm resolution Integral status LED BiSS-C unidirectional communication protocol Simple and fast installation Robust measuring principle Excellent dirt immunity to IP68

2 LM10D01_04 LM10 dimensions Dimensions and tolerance in mm M through D H ± Incremental track 46 Surface print on scale* 10 S10\WWYY.BB bsolute track M deep 4 * Scale surface print does not represent the actual ordering code. For orientation purpose only. Magnetic scale thickness (D) Standard option Option 01 Ride height (H) With back-adhesion tape 1.5 ± ± With back-adhesion tape, with cover foil 1.6 ± ± No back-adhesion tape 1. ± ± No back-adhesion tape, with cover foil 1.4 ± ± NOTE: Orientation of the readhead relative to S10 magnetic scale should be according to the drawing. For reference use the surface print on S scale or a magnet viewer (see image below). Incremental track No back-adhesion tape, sides prepared for TRS No back-adhesion tape, sides prepared for TRS, with cover foil 1. ± ± ± ± bsolute track Magnetic viewer LM10 installation tolerances Pitch ±0.5 ±1 Roll Yaw Lateral offset ±0.5 ±0.2 mm Status LEDs LED Communication Status Green Yes Valid position data Green flashing No Valid position data Orange Yes Valid position data, > 80 % of max. speed Orange flashing No Valid position data, > 80 % of max. speed Red Yes Invalid position data Red flashing No Invalid position data 2

3 Storage and handling > 60 mm N S WRNING: The S 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 lcohol HCl ntifreeze Sea water Heptane Benzene Toluene CCl 4 Turpentine Kerosene Steam C 2 HCl Storage 20 C to +70 C Operating 0 C to +55 C (cable under non-dynamic conditions: 20 C to +55 C) Up to 100 % RH Shield connection Encoder Inner shield Extension cable 5 V Customer electronics Clock lines Data lines Sense lines Outer shield 0 V

4 LM10D01_04 LM10 technical specifications System data Maximum length for S scale Incremental pole length System accuracy 16. m 2 mm ±40 µm/m Short range accuracy < ±10 µm/10 mm (see diagram 5) Coefficient of thermal expansion (CTE) 11 ±1 µm/m/k Hysteresis < 2 µm at 0.1 mm ride height (see diagram 1) Repeatability Better than unit of resolution for movement in the same direction vailable resolutions [µm] ~ ~ ~ ~ 1.95 ~.906 ~ Maximum speed [m/s] Maximum speed during power on Electrical data Power supply Set-up time after switch-on Power consumption (without load) Voltage drop on the cable Mechanical data Mass 0.5 m/s 5 V ±5 % (voltage on readhead) Consider voltage drop over cable (see diagram and 4) < 250 ms < 150 m 55 mv/m; 5 mv/m (sense lines parallel to power supply) Readhead (with 1 m cable, no connector) 41 g, magnetic scale 60 g/m Cable PUR high flexible cable, drag-chain compatible, double-shielded mm 2 (WG 0); mm 2 (WG 26) durability: 20 million cycles at 20 mm bend radius at whole temperature range Environmental data Temperature Operating 0 C to +55 C Storage 20 C to +70 C Vibrations (55 Hz to 2000 Hz) 00 m/s 2 (IEC ) Shocks (11 ms) 00 m/s 2 (IEC ) Humidity 100 % (condensation permitted) EMC Immunity IEC (particularly: ESD: IEC ; EM fields: IEC ; Burst: IEC ; Surge: IEC ; Conducted disturbances: IEC ; Power frequency magnetic fields: IEC ; Pulse magnetic fields: IEC ) EMC Emission IEC (for industrial, scientific and medical equipment: IEC 55011) Environmental sealing IP68 (according to IEC 60529) 4

5 4 6 Hysteresis [µm] 2 1 Max. clock frequency [MHz] Without line delay compensation With line delay compensation Ride height [mm] Cable length [m] Diagram 1: Hysteresis vs. ride height Diagram 2: Maximum clock frequency vs. cable length Required power supply voltage on cable end [V] Maximum power supply voltage Minimum power supply voltage Required power supply voltage on cable end [V] Maximum power supply voltage Minimum power supply voltage Cable length [m] Diagram : Required power supply voltage on cable end vs. overall cable length Cable length [m] Diagram 4: Required power supply voltage on cable end vs. overall cable length with sense lines connected parallel to power supply lines Short range accuracy [μm pp /10 mm] L = Ride height - Lateral offset (LO) L = 0 L = Ride height [mm] ccuracy error [μm] Short range accuracy Measuring travel [mm] Diagram 5: Short range accuracy vs. ride height-lateral offset (LO) as a parameter - typical Diagram 6: Definition of short range accuracy 5

6 LM10D01_04 LM10DC - BiSS-C uni-directional interface Signal level Maximum clock frequency RS422 5 MHz Length of position data 26 bit LSB = (2000 μm)/ μm (regardless the selected resolution) Length of status data 2 bit Length of CRC 6 bit (inverted bit output - polynomial 0x4) Position data encoding Latency (t latency ) Recovery (t recovery ) Pure binary 0.8 µs at 5 MHz (otherwise 4 M clock periods) 5 μs Timing diagram Encoder latches position value M SLO CK STRT CDS MSB LSB Error Warning CRC CRC t latency Position data Status data CRC data t recovery Status data Bit Type H ( L for option 0) L ( H for option 0) Possible reason for failure E larm Invalid position data OK W Warning Valid position data, close to overspeed OK Movement too fast, demagnetisation, sensing distance too high, orientation of readhead and scale >80 % of maximum speed Connections 9 pin D type plug Cable specifications Pin Colour Signal Case Outer shield 1 Inner shield 2 Pink M + Blue M 4 Yellow +5 V sense 5 Brown +5 V supply 6 Grey SLO + 7 Red SLO 8 Green 0 V sense 9 White 0 V supply NOTE: If controller does not support voltage sense functionality, we recommend connecting sense lines parallel to power supply lines in order to decrease voltage drop over cable. In case sense lines are not used and/or connected, they should be isolated in order to prevent possible shorts between power supply lines. Number of wires 8 Outer diameter 4.2 mm ±0.2 mm Jacket material Extruded polyurethane (PUR) White wire 0.14 mm 2, 26 WG, 0.1 Ω/m Other wires 0.05 mm 2, 0 WG, 0.5 Ω/m Durability 20 million cycles at 20 mm bend radius Bend radius Dynamic 25 mm, static 10 mm (internal radius) Weight 4 g/m nominal 6

7 LM10 readhead part numbering LM10 DC 1B Output type DC - BiSS-C communication protocol Resolution 1B - 2/2 1 mm (~ µm) 12B - 2/2 12 mm (~ µm) 11B - 2/2 11 mm (~ µm) 10B - 2/2 10 mm (~ 1.95 µm) 09B - 2/2 9 mm (~.906 µm) 08B - 2/2 8 mm (~ µm) Special requirements 00 - No special requirements (standard) 01 - Without LED 0 - Status bits active low 0M - Cable length in meters M - Status bits active low, cable length in meters Connector option - 9 pin D type plug F - Flying lead (no connector) Cable length m (standard) S10 magnetic scale part numbering S Scale width mm width Precision class - ±20 µm/m Scale length xxxxx - Where xxxxx equals scale length in mm. Maximum scale length up to 4 m (up to 16. m with special option 01). Special requirements 00 - No special requirements (standard). Maximum scale length up to 4 m Maximum scale length up to 16. m. See table on page 2 for reference on scale thickness. Options - Back-adhesion tape (standard) B - Back-adhesion tape, with CF10 cover foil* C - Back-adhesion tape, ends prepared for end clamping G - No back-adhesion tape, sides prepared for insertion into track system ** H - No back-adhesion tape, sides prepared for insertion into track system with CF08 cover foil* I - No back-adhesion tape N - No back-adhesion tape, with CF10 cover foil* P - No back-adhesion tape, ends prepared for end clamping * Cover foil supplied separately. ** For details on TRS track system please refer to data sheet LM10D18 on Hole to hole distance 1 Ends prepared for end clamping Scale length Positive direction Surface print on scale* ±0.5.5 ± ±0.2 S10/WWYY.BB End clamp End clamp 5 STRT Measuring length 2 FINISH 5 1 Hole to hole distance (for end clamp mounting) = Scale length + (6 mm ±1 mm) 2 Measuring length = Scale length - 42 mm Cover foil part numbering CF * Scale surface print does not represent the actual ordering code. For orientation purpose only. Width of cover foil 08-8 mm width (for track system option only) mm width Foil length xxxx - Where xxxx equals foil length in cm 7

8 LM10D01_04 ccessories part numbering pplicator tool for magnetic scale and cover foil LM10SC00 End clamp kit (2 clamps + 2 screws) LM10ECL00 USB encoder interface E201-9S For details on E201 interfaces please refer to data sheet E201 on Magnet viewer MM0001 8

9 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 , 5 New graphs, new special requirement and new data in technical specifications added Line delay compensation chapter added xis length corrected 2 Note, magnetic viewer picture, new option 01 in table magnetic scale thickness New storage and handling and shield connection 4 Maximum length for S scale, maximum speed, cable data corrected, new voltage drop on the cable 5 New diagram 2 and 4, color changes in graphs 6 New note and cable specifications, corrected connections 7 Part numbering: new special requirements (01, 0M, M), new resolutions (09B, 08B) S scale part numbering: new precision class, new special requirements (01) 8 New magnet viewer Ride height table amended 2, 6 Ride height table amended, length of position data amended 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.