LinACE absolute linear shaft encoder

Transcription

1 20 th April 2012 LinACE absolute linear shaft encoder LinACE is an extremely robust absolute linear cylindrical encoder system designed for direct integration into hydraulic, pneumatic, electromechanical actuators and linear motors as a feedback element for position/ velocity closed loop applications. The LinACE encoder system consists of a sliding encoder readhead and a solid steel encoder shaft with an integrated measuring scale. Original main shaft of the actuator or one of the guide shafts is replaced by the wear-resistant hard chrome plated shaft with integrated measuring scale. Encoder becomes part of the actuator and offers measuring in the axis of movement. Readhead can replace existing sliding bearing and so there is no additional space consumption for external encoder, no mechanical hysteresis and no backlash. The encoders come in CAN, SSI, SPI, I 2 C, PWM, asynchronous serial and analogue current or voltage output variants and offer a range of selectable resolutions from 50 µm to 0.5 µm with speeds up to 5 m/s. The LinACE encoder has a built-in advanced self-monitoring function, continually checking several internal parameters. Error reporting, warnings and other status signals are available on all digital interfaces and visualized with the on-board LED. The encoder is insensitive to external magnetic fields, operates from -40 C to +85 C and is resistant to shock and vibrations. The encoder position is retained even if the shaft rotates while moving backwards and forwards. The LinACE encoder system is suitable for integration into electric, hydraulic and pneumatic actuators for motion control in industrial and medical applications. Custom design service for OEM integration is also available. True absolute system RLS InAxis TM measuring technology Encoder for direct integration into an actuator Custom magnetic field sensor ASIC No hysteresis to 0.5 µm Length up to 500 mm Speed up to 5 m/s Built-in self-monitoring Suitable for high dynamic control loops Integrated status LED CAN, SSI, SPI, I 2 C, PWM, asynchronous serial or analogue communication interface Non-magnetized hard chrome plated shaft Insensitive to stray magnetic fields A associate company

2 LinACE dimensions Dimensions and tolerances in mm. L ±0.3 measuring length ØD O ØL 2 ±0.1 ±0.2 LE 120 Ød M 120 Shaft/readhead module fit: F7/h6 (F7/h7 for shaft diameter 10 mm Measuring length = shaft overall length - readhead length L 3 M3 5 Shaft diameter (d 4h7 5h7 6h7 8h7 10h7 12h6 14h6 16h6 18h6 20h6 22h6 25h6 30h6 Readhead module diameter (D O Max. shaft overall length (L Readhead position (LE Attachment holes (M L 3 Readhead length ( Installation holes (L 2 30f7 30f7 30f7 32f7 32f7 32f7 34f7 38f7 38f7 40f7 42f7 45f7 50f From 0 to measuring length M2.5 5 M2.5 5 M3 6 M4 8 M5 10 M6 12 M6 12 M8 16 M8 16 M10 16 M10 16 M12 20 M The readhead consists of two slide bearings length (L - L (mm, electronics and sensor. Sliding bearing maintains sensor to shaft distance. Permitted side loads (F 0 calculation is based on the maximum shaft extension from the end of the readhead (LE max and the maximum operating speed (v: F 2 L 4 = 17 F 0 v Ød p = d B 1 Load on the sliding bearing LE max = F 0 ( 1 + B 1 = - L 4 8 LE max v... Maximum speed of the shaft relative to the readhead module if p v < value in table below then > 10,000 operating hours are expected Encoder shaft may be rotated as it moves in and out. Sliding bearing material Unit Sint-A51 bronze Filled with oil Sintered MoS 2 bronze Dry / Filled with oil p v N/mm 2 m/s / 1.6 p max, continuous operation at ~0.17 m/s speed N/mm / 10 Max. speed, continuous operation m/s / 5 Thermal expansion coefficient K Operating temperature C -12 to +85 * -40 to +85 / -12 to +85 Friction coefficient / * Full temperature range (-40 C to +85 C is available only for shaft diameters 18 mm due to thermal expansion coefficient difference between the steel shaft and the bronze sliding bearings. 2

3 LinACE technical specifications System data Maximum shaft overall length 500 mm (640 mm in Q Shaft diameters 4 mm, 5 mm, 6 mm, 8 mm, 10 mm, 12 mm, 14 mm, 16 mm, 18 mm, 20 mm, 22 mm, 25 mm, 30 mm Shaft linear expansion coefficient ~ /K Maximum speed 5 m/s System accuracy ±5 µm at 20 C Hysteresis None Repeatability Better than unit of resolution Electrical data Supply voltage 5 V ± 10 %, other voltages on request Set-up time After switch-on 5 ms After wake-up 0.3 ms Current draw Operation Max. 150 ma Sleep mode < 1 ma Mechanical data Material type Shaft EN / AISI 1055 or EN / AISI µm to 40 µm Hard chrome coating 800 HVw to 1100 HV Readhead EN / AISI 303 Electrical connection Environmental data Sliding bearing 200 mm long flying leads (no connector Sint-A51 bronze filled with oil Sintered MoS 2 bronze Dry / Filled with oil Temperature Operating -10 C to +85 C for bearings filled with oil -40 C to +85 C for dry MoS 2 bronze bearings Storage -50 C to +90 C Vibrations - readhead only (55 Hz to 2000 Hz Shocks - readhead only (11 ms Humidity 300 m/s 2 (IEC m/s 2 (IEC % (non-condensating Connections Colour CAN bus SSI Asynchronous serial RS485 Asynchronous serial RS422 PWM Red 5 V supply 5 V supply 5 V supply 5 V supply 5 V supply Blue 0 V (GND 0 V (GND 0 V (GND 0 V (GND 0 V (GND White Sleep Clock Sleep Sleep Sleep Brown - Clock Pink CANH - - TX data out PWM out Grey CANL Sleep - TX data out- - Green - Data RX/TX Data RX data in - Yellow - Data- RX/TX Data- RX data in- - NOTE: Other interfaces available on request. Status indicator LED Position of status indicator LED LED Green Orange Red Status Normal operation; position data is valid Warning; position data is valid; one parameter is near limits Error; position data is not valid A associate company 3

4 LinACE communication interfaces CAN bus Standard Asynchronous serial PWM J Hz Baud rate Data format 4,800 bps, 9,600 bps, 14,400 bps, 19,200 bps, 28,800 bps, 38,400 bps, 56,000 bps, 57,600 bps, 115,200 bps, 128,000 bps, 230,400 bps, 256,000 bps 8 bits, no party, 1 stop bit On demand or continuous Base frequency 180 Hz Step duration µs Output resolution 180 Hz 16 bits 1 µm / step at up to 50 mm stroke 2 µm / step at up to 100 mm stroke 5 µm / step at up to 250 mm stroke 10 µm / step at up to 500 mm stroke SSI (optional CRC Maximum clock frequency 20 MHz SPI slave (chain possible, master mode optional (available on request Maximum clock frequency 20 MHz I 2 C / TWI slave (available on request Maximum clock frequency 400 khz Analogue current (available on request Current range For AZ output 0 ma - 20 ma For AF output 4 ma - 20 ma Output resolution 16-bit DAC 5 µm / µa at up to 80 mm stroke 10 µm / µa at up to 160 mm stroke 20 µm / µa at up to 320 mm stroke 50 µm / µa at up to 750 mm stroke Latency 300 µs Analogue voltage (available on request Voltage range For VV output 0 V - 10 V (min. 12 V supply For VP output 10 % - 90 % of supply voltage Output resolution 16-bit DAC 5 µm / mv at up to 50 mm stroke 10 µm / mv at up to 100 mm stroke 20 µm / mv at up to 200 mm stroke 50 µm / mv at up to 500 mm stroke Latency 300 µs Typical error plot Error (µm Position (mm

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