ENCODER. CANopen Multiturn. Series , Key-Features:

Transcription

1 ENCOER CANopen Multiturn Series , Key-Features: Content: Order Code Solid Shaft... Order Code Blind Hollow Shaft... Technical ata... CANopen Interface...5 Connection...6 Technical drawing Solid shaft: maximum diameter 0 mm - Blind hollow shaft: maximum diameter 5 mm - Housing diameter 58 mm - Interfaces: CANopen and CANopen-ift - Protection class up to IP67 - Total resolution up to 8 Bit - Maximum revolution speed 9000 turns/min - Temperature range C 9.0.6

2 - - CANopen/CANopenift The Sendix multiturn encoders 5868 and 5888 with CANopen or CANopenift interface and optical sensor technology are the right encoders for all CANopen or CANopenift applications. With a maximum resolution of 8 bits these encoders offer an optional additional RS incremental track with 08 pulses. / RoHS Mechanical drive Reliable Safety-ock TM High rotational speed C Temperature range IP High protection level Tried-and-tested in applications with the highest demands, such as in mobile automation or medical technology. Ideal for use outdoors thanks to IP67 protection and wide temperature range from -0 C up to +80 C. High shaft load capacity Flexible Shock / vibration resistant Magnetic field proof Reverse polarity protection Optical sensor Surface protection salt spray-tested optional Node address can be set via rotary switches or software. Baud rate and termination can be set via IP switches or software. With bus terminal cover or fixed connection, as well as M connectors or cable connection. Universal scaling function. Absolute encoders multiturn Order code Shaft version Type. X X X X. XX X a b c d e f If for each parameter of an encoder the underlined preferred option is selected, then the delivery time will be 0 working days for a maximum of 0 pieces. Qts. up to 50 pcs. of these types generally have a delivery time of 5 working days. a Flange = clamping flange, IP65 ø 58 mm [.8 ] = clamping flange, IP67 ø 58 mm [.8 ] = synchro flange, IP65 ø 58 mm [.8 ] = synchro flange, IP67 ø 58 mm [.8 ] 5 = square flange, IP mm [.5 ] 7 = square flange, IP mm [.5 ] b Shaft (ø x ), with flat = 6 x 0 mm [0. x 0.9 ] ) = 0 x 0 mm [0.9 x 0.79 ] ) = / x 7/8 = /8 x 7/8 c Interface / power supply = CANopen S0 V.0, V C 5 = CANopen S0 V.0, V C with 08 ppr incremental track (TT-compatible) ) d Type of connection removable bus terminal cover = radial cable gland = M connector Fixed connection without bus terminal cover A = radial cable, m [6.56 ] PVC B = radial cable, special length PVC *) E = x radial M connector, 5-pin F = x radial M connector, 5-pin I = x radial M connector, -pin J = x radial M connector, -pin K = x Sub- connector, 9-pin *) Available special lengths (connection type B):, 5, 8, 0, 5 m [9.8, 6.0, 6.5,.80, 9. ] order code expansion.xxxx = length in dm ex.: B..000 (for cable length m) e Fieldbus profile ) = CANopen encoder profile S06 V. = CANlift S7 V.0 f Options (service) = no options = SET button Optional on request - Ex / 5) - surface protection salt spray tested ) CAN parameters can also be factory pre-set. 5) For the cable connection type, cable material PUR.

3 - - CANopen/CANopenift Order code Hollow shaft Type. X X X X. XX X a b c d e f If for each parameter of an encoder the underlined preferred option is selected, then the delivery time will be 0 working days for a maximum of 0 pieces. Qts. up to 50 pcs. of these types generally have a delivery time of 5 working days. a Flange with torque stop = with spring element, long, IP65 = with spring element, long, IP67 = with stator coupling, IP65 ø 65 mm [.56 ] = with stator coupling, IP67 ø 65 mm [.56 ] 5 = with stator coupling, IP65 ø 6 mm [.8 ] 6 = with stator coupling, IP67 ø 6 mm [.8 ] b Blind hollow shaft = ø 0 mm [0.9 ] = ø mm [0.7 ] 5 = ø mm [0.55 ] 6 = ø 5 mm [0.59 ] 8 = ø /8 9 = ø / c Interface / power supply = CANopen S0 V.0, V C 5 = CANopen S0 V.0, V C mit 08 ppr incremental track (TT-compatible) ) d Type of connection removable bus terminal cover = radial cable gland = M connector Fixed connection without bus terminal cover A = radial cable, m [6.56 ] PVC B = radial cable, special length PVC *) E = x radial M connector, 5-pin F = x radial M connector, 5-pin I = x radial M connector, -pin J = x radial M connector, -pin K = x Sub- connector, 9-pin *) Available special lengths (connection type B):, 5, 8, 0, 5 m [9.8, 6.0, 6.5,.80, 9. ] order code expansion.xxxx = length in dm ex.: B..000 (for cable length m) e Fieldbus profile ) = CANopen encoder profile S06 V. = CANlift S7 V.0 f Options (service) = no options = SET button Optional on request - Ex / ) - surface protection salt spray tested Mounting accessory for shaft encoders Coupling Mounting accessory for hollow shaft encoders Cylindrical pin, long for torque stops 8 0, 5 0, SW7 [0,8] 0,6 m8 0,6 Order no. bellows coupling ø 9 mm [0.75 ] for shaft 6 mm [0. ] bellows coupling ø 9 mm [0.75 ] for shaft 0 mm [0.9 ] Order no. with fixing thread M 0,8 R7 0,8 Connection technology Order no. Connector, self-assembly (straight) coupling M for bus in connector M for bus out Cordset, pre-assembled M, for bus in, 6 m [9.68 ] PVC cable M, for bus out, 6 m [9.68 ] PVC cable A.006M A.006M

4 - - CANopen/CANopenift Technical data Mechanical characteristics Maximum speed IP65 up to 70 C [58 F] 9000 min -, 7000 min - (continuous) IP65 up to Tmax 7000 min -, 000 min - (continuous) IP67 up to 70 C [58 F] 8000 min -, 6000 min - (continuous) IP67 up to Tmax 6000 min -, 000 min - (continuous) Starting torque - at 0 C [68 F] IP65 < 0.0 Nm IP67 < 0.05 Nm Mass moment of inertia shaft version.0 x 0-6 kgm hollow shaft version 7.5 x 0-6 kgm oad capacity of shaft radial 80 N axial 0 N Weight with bus terminal cover approx kg [0. oz] with fixed connection approx. 0.5 kg [8. oz] Protection acc. to EN 6059 housing side IP67 shaft side IP65, opt. IP67 Working temperature range -0 C C [-0 F F] ) Material shaft/hollow shaft stainless steel flange aluminium housing zinc die-cast cable PVC Shock resistance acc. to EN m/s, 6 ms Vibration resistance acc. to EN m/s, Hz Electrical characteristics Power supply V C Power consumption (no load) max. 00 ma Reverse polarity protection yes of the power supply U approval file 68 CE compliant acc. to EMC guideline 00/08/EC RoHS guideline 0/65/EU Interface characteristics CANopen/CANopenift Resolution singleturn (6 bit), scaleable default: 89 ( bit) Number of revolutions (multiturn) max. 096 ( bit) scalable only via the total resolution Total resolution (8 bit), scaleable default:.55. (5 bit) Code binary Interface CAN high-speed acc. to ISO 898, Basic- and Full-CAN CAN specification.0 B Protocol CANopen profile S06 V. with manufacturer-specific add-ons or CANlift profile S7 V. Baud rate kbit/s can be set via IP switches, software configurable Node address... 7 can be set via rotary switches, software configurable Termination switchable can be set via IP switches, software configurable Incremental track characteristics Output driver RS (TT-compatible) Permissible load / channel max. +/- 0 ma Signal level HIGH typ..8 V OW typ.. V Short circuit proof outputs yes ) Resolution 08 ppr SET button (zero or defined value, option) Protection against accidental activation. Button can only be operated with a ball-pen or pencil. Absolute encoders multiturn iagnostic E (yellow) E is ON with the following fault conditions Sensor error (internal code or E error) too low voltage, over-temperature ) Cable version: -0 C C [- F F]. ) Short circuit to 0 V or to output, only one channel at a time, power supply correctly applied.

5 - 5 - CANopen/CANopenift General information about CANopen / CANopenift The CANopen encoders support the latest CANopen communication profile according to S0 V.0. In addition, device specific profiles such as encoder profile S06 V. and S7 V. (for lift applications) are available The following operating modes may be selected: Polled Mode, Cyclic Mode, Sync Mode. Moreover, scale factors, preset values, limit switch values and many other additional parameters can be programmed via the CAN bus. When switching the device on, all parameters are loaded from an EEPROM, where they were saved previously to protect them against power-failure. The following output values may be combined in a freely variable way as PO (PO mapping): position, speed, acceleration as well as the status of the working area. As competitively priced alternatives, encoders are also available with a connector or a cable connection, where the device address and baud rate can be changed and configured by means of the software. The models with bus terminal cover and integrated T-coupler allow for extremely simple installation: the bus and power supply can be easily connected via M connectors. The device address can be set via rotary hex switches. Furthermore, another IP switch allows for the setting of the baud rate and switching on a termination resistor. Three Es located on the back indicate the operating or fault status of the CAN bus, as well as the status of an internal diagnostic. Universal Scaling Function At the end of the physical resolution of an encoder, when scaling is active, an error appears if the division of the physical limit (GP_U) by the programmed total resolution (TMR) does not produce an integer. The Universal Scaling Function remedies this problem. CANopen communication profile S0 V.0 Among others, the following functionality is integrated. Class C functionality. NMT slave. Heartbeat protocol. High resolution sync protocol. Identity object. Error behaviour object. Variable PO mapping. Self-start programmable (power on to operational). Sending PO s. Node address, baud rate and CANbus. Programmable termination. CANopen Encoder Profile S06 V. The following parameters can be programmed: Event mode. Units for speed selectable (steps/sec or min - ). Factor for speed calculation (e.g. circumference of measuring wheel). Integration time for the speed value from.... working areas with upper and lower limits and the corresponding output states. Variable PO mapping for position, speed, work area status. Extended failure management for position sensing with integrated temperature control. User interface with visual display of bus and failure status - E s. Optional - CAMs programmable. Customer-specific memory - 6 Bytes. CANopen ift Profile S7 V. Among others, the following functionality is integrated: Car position unit. virtual devices. virtual device delivers the posititon in absolute measuring steps (steps). virtual device delivers the posititon as an absolute travel information in mm. ift number programmable. Independent setting of the node address in relation with the CAN identifier. Factor for speed calculation (e.g. measuring wheel periphery). Integration time for speed value of... work areas with upper and lower limits and the corresponding output states. Variable PO mapping for position, speed, acceleration, work area status. Extended failure management for position sensing with integrated temperature control. User interface with visual display of bus and failure status - E s. Watchdog controlled device. All profiles stated here: Key-features The object 600h Preset is assigned to an integrated key, accessible from the outside.

6 - 6 - Terminal assignment CANopen/CANopenift Interface, 5 Interface, 5 Type of connection Cable gland (bus terminal cover with terminal box) Bus OUT Bus IN Signal: CAN_GN CAN_ CAN_H 0 V +V 0 V +V CAN_ CAN_H CAN_GN Abbreviation: CG C CH 0 V +V 0 V +V C CH CG Type of connection Cable (isolate unused wires individually before initial start-up) Bus IN A, B Signal: 0 V +V CAN_ CAN_H CAN_GN Cable colour: WH BN YE GN GY Interface Type of connection x M connector ( x M connector with interface 5) Bus OUT Signal: 0 V +V CAN_ CAN_H) CAN_GN, 5, F Pin: 5 Bus IN Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: 5 Incremental track Signal: A B 0 V 5 Pin: Absolute encoders multiturn Interface, 5 Type of connection x M connector Bus IN E Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: 5 5 Interface Type of connection x M connector Bus OUT Signal: 0 V +V CAN_ CAN_H CAN_GN, 5 J Pin: 0 7 Bus IN Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: 0 7 x Interface, 5 Type of connection x M connector Bus IN 9 I Signal: 0 V +V CAN_ CAN_H CAN_GN 8 7 Pin: Interface, 5 Type of connection Sub- connector Bus IN K Signal: 0 V +V CAN_ CAN_H CAN_GN Pin:

7 - 7 - CANopen/CANopenift imensions shaft version, with removable bus terminal cover imensions in mm [inch] Clamping flange, ø 58 [.8] Flange type and (drawing with x M connector) 50 [.97] x M, 6 [0.] deep x M, 8 [0.] deep 58 [.8] 5 [.] 6 [.] 0 [.57] 60 [.6] 8 [.89] 0 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 0 [0.9],5 [0.57] [0.] 0 [.8] [0.] 76 [.0] 77, [.0] x0 Synchro flange, ø 58 [.8] Flange type and (drawing with cable),5 [0,57] 5,5 [.0] M, 6 [0.] deep 50 [,97] 58 [,8] 0 [,57] 60 [,6] Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 86 [,9] 87, [,] 9 [0.75] [,65] x 0 Square flange, 6.5 [.5] Flange type 5 and 7 (drawing with cable) 57 [,],75 h7[,5] 0 [,57] 60 [,6] Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 7, [0,8] 7,5 [0,] 0 [,8] 78,5 [,] 79,5 [,],5 [0,57] 5,5 [0,] 5, [,06] 6,5 [,5]

8 - 8 - CANopen/CANopenift imensions shaft version, with fixed connection imensions in mm [inch] Synchro flange, ø 58 [.8] Flange type and (drawing with M connector) 60,6,9 M, 6 [0.] deep 58 [,8] 50 [,97] Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 69,5,7 70,7,78,5 0,5 [,65] x 0 Synchro flange, ø 58 [.8] Flange type and (drawing with Sub- connector) M, 6 [0.] deep x /0 UNC;.0 [0.] deep,5 0,56,7,6 Absolute encoders multiturn 58 [,8] 50 [,97] 5 0,98 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 69,5,7 70,7,78 [,65] x 0 Square flange, 6.5 [.5] Flange type 5 and 7 (drawing with x M connector),5 0,5 60,6,9,75,5, 8 5,5 0, Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 7, 0,8 7,5 0, 6, 6,,9 5,,06 6,5,5

9 - 9 - imensions shaft version, with fixed connection imensions in mm [inch] CANopen/CANopenift Clamping flange, ø 58 [.8] Flange type and (drawing with x M connector) 57,5 [.] x M, 6 [0.] deep x M, 8 [0.] deep 58 [.8] 5 [.] 6[.] 8 [.89] 0 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 0 [0.9] [0.] [0.] 59,5 [.] 70,5 [.78], [0.5] x 0 Synchro flange, ø 58 [.8] Flange type and (drawing with M connector) M, 8 [0.] deep 58,5, 58 [,8] 50 [,97], 8 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 69,5,7 70,7,78,5 0,5 [,65] x 0 Clamping flange, ø 58 [.8] Flange type and (drawing with cable) x M, 6 [0.] deep 59,7 [,5] 0 x M, 8 [0.] deep 58 [.8] 5 [.] 6 [.] 8 [,89] 0 [0.9] [0.] [0.] 59,5 [.] 60,7 [.8], [0,5] x 0 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7

10 - 0-60,6 6,8 max., CANopen/CANopenift imensions hollow shaft version (blind hollow shaft), with removable bus terminal cover imensions in mm [inch] Flange with spring element, long Flange type and (drawing with x M connector), [0.09] 9,5,95 [0.55],99-0,0 [0.6] Torque stop slot, recommendation: cylindrical pin IN 7, ø [0.6] M, 5.5 [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] max. [.] [0.6] 8, [.] 9, [.6],5 [0.57] 9 [0.75] 0 [.58] 60 [.6] x0 [.65] 6,7 [.] 0,9 [.6] Flange with stator coupling, ø 6 [.8] Flange type 5 and 6 Pitch circle diameter for fixing screws 6 [.8] (drawing with cable) Absolute encoders multiturn,5 0,57 57, 0,57 68,68 Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] 0,8 0,0 0,6 8, 9,6 9 0,75, 0, 5 0 0,79 Flange with stator coupling, ø 65 [.56] Flange type and Pitch circle diameter for fixing screws 65 [.56] (drawing with x M connector) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] max. [.],5 0,57 0,57 60 [.6] x0 9,5 [.95], [0.7],5 [0.09] 9, [.7] 95,5 [.76] 9 0,75 65 [.56]

11 - - CANopen/CANopenift imensions hollow shaft version (blind hollow shaft), with fixed connection imensions in mm [inch] Flange with spring element, long Flange type and (drawing with M connector), [0.09] 60,6,9 [0.55],99-0,0 [0.6] Torque stop slot, recommendation: cylindrical pin IN 7, ø [0.6] M, 5.5 [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] 58,8 max. [.] [0.6] 66,5,6 7,,88 7,,9 x0 [.65] 6,7 [.] 0,9 [.6] Flange with spring element, long Flange type and (drawing with Sub- connector) Torque stop slot, recommendation: cylindrical pin IN 7, ø [0.6] M, 5.5 [0.] deep x /0 UNC;.0 [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8],8 58 max. [.],5 0,56 [0.6] 66,5,6 0,98 5 x0, [0.09] [.65],7,6 [0.55],99-0,0 [0.6] 6,7 [.] 0,9 [.6] 7,,88 7,,9 Flange with stator coupling, ø 65 [.56] Flange type and Pitch circle diameter for fixing screws 65 [.56] (drawing with x M connector) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8],5 0,5 8, 0, 0,7 65,56,8 7,5 0, 77,7,06 78,9, 60,6,9

12 - - CANopen/CANopenift imensions hollow shaft version (blind hollow shaft), with fixed connection imensions in mm [inch] Flange with stator coupling, ø 6 [.8] Flange type 5 and 6 Pitch circle diameter for fixing screws 6 [.8] (drawing with M connector) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8],5 0,5 max. 58,8 68,68 6,8, 0,8 0,0 0,6 66,5,6 7,5,9 75,67,98, 0, 5 0 0,79 Flange with spring element, long Flange type and (drawing with x M connector) Torque stop slot, recommendation: cylindrical pin IN 7, ø [0.6] M, 5.5 [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] 58,8 max. [.],5 0,5 8, x0, [0.09] 58,5, [0.55],99-0,0 [0.6] 6,7 [.] 0,9 [.6] Absolute encoders multiturn [0.6] 66,5,6 7,,88 7,,9 [.65] Flange with stator coupling, ø 65 [.56] Flange type and Pitch circle diameter for fixing screws 65 [.56] (drawing with cable) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] 58,8,5 0,5 0 59,,, 0,7,5 0, 77,7,06 78,9, 65,56 7,8 Subject to change without prior notice. WayCon Positionsmesstechnik GmbH info@waycon.de internet: Head Office Mehlbeerenstr. 80 Taufkirchen Tel. +9 (0) Fax +9 (0) Office Köln Auf der Pehle 50 Brühl Tel. +9 (0) Fax +9 (0)