Drve Techology \ Drve Automato \ System Itegrato \ Servces Drve Egeerg ractcal Implemetato Ecoder Systems rom SEW-EURODRIVE Edto 11/2009 16742028 / EN
SEW-EURODRIVE Drvg the world
Cotets Cotets 1 Itroducto... 4 1.1 roduct ames ad trademarks... 4 2 What Are Ecoder Systems?... 5 2.1 What are the tasks o ecoder systems?... 5 2.2 Whch types o ecoder systems are there?... 5 2.3 How do ecoder systems work?... 7 2.4 Whch ecoder wth whch motor?... 26 3 How Are Ecoder Systems Used At SEW-EURODRIVE?... 29 3.1 Whch ecoder systems does SEW-EURODRIVE use?... 29 3.2 What s the structure o the type desgato o those ecoder systems? 30 3.3 Whch products are the ecoder systems used wth?... 31 3.4 How do you perorm the project plag or ecoder systems?... 35 4 What Are The Techcal Data O These Ecoder Systems?... 37 4.1 Icremetal rotary ecoders wth spread ad plug- shat... 37 4.2 Icremetal rotary ecoders wth sold shat... 39 4.3 SSI absolute ecoder... 40 4.4 Resolver... 42 4.5 Absolute ecoder wth asychroous-seral terace... 43 4.6 Bult- ecoder... 48 4.7 roxmty sesor... 48 4.8 Moutg devce... 49 5 How Is The Ecoder Mouted Mechacally?... 50 5.1 Spread-shat ecoder (DR ad DT/DV motors)... 50 5.2 lug- shat wth ed thread (DR motors oly)... 51 5.3 Bult- ecoder (oly DR-motors)... 52 5.4 Moutg devce (DR ad DT/DV motors)... 53 5.5 Hollow-shat ecoder (oly DR 315)... 54 5.6 Coe shat eccoder (CM motors)... 55 6 What Are The Settg Speccatos For The Ecoder Assembly?... 57 6.1 Settg speccatos or motors wth HIERFACE ecoders... 57 6.2 Resolver settg speccatos or SEW motors CM71 112... 58 7 What Geeral Istallato Notes Must Be Observed?... 59 7.1 Ecoder le sheld o verter... 59 7.2 Ecoder le sheld o ecoder... 60 8 Terms Ad Detos... 61 Idex... 62 Drve Egeerg ractcal Implemetato Ecoder Systems 3
1 Itroducto roduct ames ad trademarks 1 Itroducto SEW-EURODRIVE s oe o the leadg compaes the world market or electrcal drve egeerg. The compay headquarters are Bruchsal, Germay. Compoets or the SEW-EURODRIVE modular drve system are mauactured to the hghest qualty stadards producto plats sted Germay, Frace, Flad, the Uted States, Brazl ad Cha. The dvdual drve systems are assembled wth a cosstetly hgh qualty stadard ad very short delvery tmes rom stocked compoets 67 assembly plats located 47 dustralzed coutres all over the world. SEW-EURODRIVE sales, cosultg, customer ad spare parts servces are avalable more tha 60 coutres aroud the world. Its global presece, extesve product rage ad broad spectrum o servces make SEW-EURODRIVE the deal parter or demadg automato solutos. The volume beore you rom the seres "Drve Egeerg - ractcal Implemetato" s amed at techcal specalsts ad provdes clear ormato o the desg ad theory o operato o commo compoets o ecoder techology as well as ther applcatos ad project plag. SEW-EURODRIVE drvg the world. Bruchsal, November 2009 1.1 roduct ames ad trademarks The brads ad product ames cotaed wth ths ssue are trademarks or regstered trademarks o the ttleholders. 4 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? What are the tasks o ecoder systems? 2 2 What Are Ecoder Systems? 2.1 What are the tasks o ecoder systems? Depedg o the respectve requremets, ecoder systems have to perorm deret tasks drve systems. Oe o the most commo task s to allow or a postog o the drve system. Ths postog ca be cremetal or absolute. The ecoder ca be mouted to the motor or to the track. Ecoder systems ca also be used or speed cotrol purposes. Wth a drect motor eedback, you ca sgcatly mprove the speed qualty ad the cotrol respose eve wth major load chages. Wth sychroous motors, the eedback o the rotor posto s requred order to set the rotatg eld or the dyamc cotrol wth varyg load codtos. Wth the sutable ecoder ad the deal combato o the sgals or cotrol processes ad postog, you ca mplemet a optmzed drve system. 2.2 Whch types o ecoder systems are there? 2.2.1 Overvew o covetoal ecoder systems wth respect to electrcal teraces Ecoder systems cremetal absolute aalog aalog dgtal aalog dgtal sgletur sgletur multtur s/cos TTL, HTL Resolver asychro. seral, sychro. seral Speedom. Fg. 1: Overvew o covetoal ecoder systems 1516926603 Drve Egeerg ractcal Implemetato Ecoder Systems 5
2 What Are Ecoder Systems? Whch types o ecoder systems are there? The deret ecoders provde the ollowg data: Data Ecoder system Rotor agle osto Speed Sgle-tur absolute ecoder x x (x) Mult-tur absolute ecoder x x (x) Icremetal ecoder (x) (x) (x) Resolver x (x) x Tacho geerator - - x x drect evaluato, (x) avalable wth addtoal evaluato The robustess o a ecoder system s a crucal crtero or the ecoder selecto. As some ecoders are stalled drectly o the motor, they have to be temperature- ad vbrato-resstat, as they could get damaged otherwse. The ecoder system's susceptblty to tererece s aother crucal actor as well I the evet o a power alure, the absolute ecoder keeps the latest track ormato whereas the cremetal ecoder loses t. Ths s why the absolute ecoder s susceptble to exteral tererece. Oce the tererece has decayed, the absolute ecoder resumes workg lawlessly as the track ormato has bee stored. Wth a cremetal ecoder, a lost or redudat coutg pulse s ot regstered ad results a permaet measurg error. 2.2.2 Beets ad drawbacks o the most mportat ecoder systems Ecoder system Beets Drawbacks Icremetal ecoder Relatvely robust desg s possble Broad rage regardg resoluto, moutg postos ad teraces Very hgh resoluto s possble Ca be stalled the motor Absolute ecoder osto ormato s stored the evet o a power alure Explct assgmet o a posto to a output value Very hgh resoluto s possble Rotary ecoders ca eve mage a posto over several revolutos Ca be stalled the motor Resolver Robust desg Not aected by vbrato ad temperature luctuatos Ca be stalled the motor osto ormato s lost the evet o a power alure Hgh costs Hgh evaluato eorts oly sgle-tur posto ormato 6 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 2.3 How do ecoder systems work? 2.3.1 Rotary ecoder systems Icremetal ecoder Optcal system Icremetal ecoders covert the speed to a drect umber o electrcal mpulses. Ths s perormed va a code dsk wth radal trasparet slts that s scaed optoelectrocally. The resoluto s determed by the umber o slts. [1] [2] Fg. 2: Icremetal ecoder 1369274507 [1] Icremetal dsk [2] Scag devce Magetc system Sesors sca rotatg magets or erromagetc materal measures ad geerate a sgal. Those systems ted to be more robust tha optcal systems. There ca also be devatos rom the classc desg, e.g. wth the DR bult- ecoder, there are magets the a wheel. Those magets are tracked by magetc eld sesors o a ecoder module mouted to the stud. The measured values are terpolated to geerate the correspodg cremetal sgals. Fg. 3: DR bult- ecoder 2262625419 Drve Egeerg ractcal Implemetato Ecoder Systems 7
2 What Are Ecoder Systems? How do ecoder systems work? Structure ad uctoal prcple Usually, cremetal ecoders have 2 tracks ad oe dex sgal track. Ivertg the sgals results a total o sx tracks. Two scag elemets the cremetal ecoder, arraged at a 90 agle to each other, provde 2 sgal tracks A (K1) ad B (K2). Track A (K1) s 90 ahead o B (K2) as vewed oto the motor shat Ths phase sht s used or determg the drecto o rotato o the motor. The zero pulse (oe pulse per revoluto) s regstered by a thrd scag devce ad made avalable o track C (K0) as a reerece sgal. The sgals A (K1), B (K2) ad C (K0) are verted the ecoder ad provded as sgals A (K1), B (K2) ad C (K0). A (K1) 90 180 360 A( K1) B (K2) B( K2) 90 C (K0) Fg. 4: TTL sgals wth zero track, wth verted sgals HTL sgals wth zero track, wthout verted sgals C( K0) 1369276939 Sgal level There are two kds o sgal levels or cremetal dgtal ecoders: TTL (Trasstor-Trasstor-Logc) TTL (Hgh-voltage-Trasstor Logc) 8 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 TTL (Trasstor- Trasstor-Logc) The sgal levels are V low 0.5 V ad V hgh 2.5 V. A postve ad a egatve sgal (e.g. A, A) each s trasmtted betwee the seder ad the recever ad evaluated deretally. Ths symmetrcal sgal trasmsso ad the deretal evaluato ca mmze commo-mode tererece ad crease the data rate. 5.0 U [V DC ] 2.5 0.5 0.0 A [1] [2] TTL 5.0 U [V DC ] 2.5 0.5 0.0 A Fg. 5: TTL sgal level [2] TTL [1] 1369579787 [1] "1" area [2] "0" area TTL (Hgh-voltage- Trasstor Logc) The sgal levels are V low 3 V ad V hgh V B -3.5 V. The sgals are trasmtted symmetrcally ad are evaluated deretally. Ths ad the hgh voltage level o the HTL ecoders result very avorable EMC propertes. 24.0 20.5 K [1] U [V DC ] 3.0 0.0 Fg. 6: HTL sgal level [1] "1" area [2] "0" area [2] HTL 1369620619 Iverted HTL sgals must usually ot be drectly coected to the ecoder put o the verter as ths mght overload ad damage the put stages. Drve Egeerg ractcal Implemetato Ecoder Systems 9
2 What Are Ecoder Systems? How do ecoder systems work? Icremetal rotary ecoders wth s/cos tracks Structure ad uctoal prcple S/cos ecoders, also called susodal ecoders, supply two susodal sgals, oset by 90. The umber ad progress o the se waves (terpolato ad arctaget) s evaluated. Usg these values, the speed ca be determed wth a very hgh resoluto. Ths s especally advatageous a large settg rage ad small speeds must be exactly met. Further, there s a very hgh cotrol stess. Usually, s/cos ecoders have 2 tracks ad oe dex sgal track. Ivertg the sgals results a total o sx tracks. The 90 oset sgals are o tracks A (K1) ad B (K2). Oe se hal-wave per revoluto s provded at chael track C (K0) as the zero pulse. The tracks A (K1), B (K2) ad C (K0) are verted the ecoder ad provded verted as sgals o tracks A (K1), B (K2) ad C (K0). Track A = Cos Track B = S 0.5V A (K1) 90 180 360 A (K1) B (K2) 90 B (K2) C (K0) C (K0) Fg. 7: S/cos sgals wth zero track ad verted sgal 1369570059 10 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Sgal level The s/cos sgals are usually supermposed o a DC voltage o 2.5 V. As the s/cos sgals are traserred symmetrcally ad evaluated deretally (V SS = 1 V), they are ot sestve to asymmetrc tererece ad have a good EMC behavor. U [V DC ] 3.0 [1] 2.5 1 V SS 2.0 0.0 [2] Fg. 8: Sgal level o a cremetal rotary ecoder wth s/cos tracks [1] B - B [2] A - A S/Cos 2295657483 Absolute ecoder Absolute ecoder wth asychroous-seral terace Structure I the past ew years, so-called combato ecoders have establshed o the marked. Those ecoders are s/cos ecoders wth absolute value ormato. I addto to the curret speed o the motor, they provde absolute value ormato ad oer techcal ad acal advatages a absolute value ecoder s requred. The absolute ecoder wth a asychroous terace s a typcal combato ecoder. I addto to a s/cos sgal or speed recordg ad absolute value ormato, these ecoders also have a electroc ameplate whch data such as drve data ca be stored. Ths makes startup easer ad reduces possble user put errors, as the user does ot eed to put ay drve data. Absolute ecoders wth asychroous terace are avalable as: 1. Add-o ecoder s or asychroous motors ad sychroous servomotors 2. Bult- ecoders or sychroous servomotors Both desgs are avalable as sgle-tur ad mult-tur varat. Drve Egeerg ractcal Implemetato Ecoder Systems 11
2 What Are Ecoder Systems? How do ecoder systems work? Fuctoal prcple At the begg o the startup process, the absolute value ecoder compoet determes the absolute posto. For sychroous motors, the verter ca use ths value to calculate the commutato ormato. The verter reads ths posto ormato va a RS-485 coecto (parameter chael) ad sets a couter status. Based o ths absolute value, the posto chages are recorded usg the tracks o the s/cos ecoder. These chages are trasmtted over the process data chael to the verter aalog orm. Addtoal absolute posto queres are oly perormed perodcally to check valdty. [1] [2] [5] [3] [4] Fg. 9: Iormato low 1369574923 [1] Motor eedback systems [2] S/cos sgals [3] RS485 parameter chael [4] Supply voltage [5] Iverter A verter wth a asychroous-seral terace receves posto ormato as well as the tme or whch the posto s vald va the parameter chael. At the same tme, the process data chael cotuously receves ad couts the comg aalog (s/ cos) sgals. The ecoder s avalable sgle-tur or mult-tur versos. Sgle-tur meas that the absolute posto ormato always relates to oe revoluto oly. I addto, the multtur varat o the ecoder ca provde ormato regardg the umber o revolutos (typcally e.g. 4096) va dowstream scaled code dsks or a electroc revoluto couter. Thus, depedg o the verter, ater the maxmum umber o revolutos, there wll be a ecoder overlow that s couted the o-volatle SRAM (NVS) o the verter. Up to 256 ecoder overlows are saved (at 4096 revolutos). I the voltage at the supply ps drops below a threshold (e.g. power alure), the NVSRAM detects ths ad saves the data a retetve way. 12 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Overlow example: At restart, the EEROM the verter provdes the ollowg values: The absolute value wth a overlow (typcally 4096 x 4096) The umber o overlows (0 255) I the drve that s close to a overlow s moved beyod the ecoder overlow pot whe the supply voltage s removed, a dscrepacy exsts at restart betwee the recorded ad the stored absolute values. The ecoder electrocs the corrects the stored values automatcally wth the recorded oes. Ic. [3] [1] [2] Fg. 10: Ecoder overlow [1] 1. Ecoder overlow [2] 2. Ecoder overlow [3] Absolute value see by user abs. os. 1369574923 The ecoder overlows are couted the verter ad thus the absolute posto ca be determed. The user does ot see the actual ecoder overlows; they are saved the verter. Hece, the ecoder wth asychroous-seral terace s a geue absolute ecoder. Drve Egeerg ractcal Implemetato Ecoder Systems 13
2 What Are Ecoder Systems? How do ecoder systems work? Absolute ecoder wth SSI (sychroous-seral terace) Sgle-tur ecoder The absolute value ormato s geerated by a code dsk wth Gray Code that s geerally scaed optcally. Every agle posto s assged a uque code patter. Thus the absolute posto o the motor shat ca be determed. As opposed to the bary code, oly 1 bt chages at a tme. Thus, wth the sgle-step Gray Code, a correct scag s detected mmedately. Fg. 11: Code dsk wth Gray Code 1369279371 Decmal Gray code Bary code 0 0000 0000 1 0001 0001 2 0011 0010 3 0010 0011 4 0110 0100 5 0111 0101 6 0101 0110 7 0100 0111 8 1100 1000 9 1101 1001 10 1111 1010 11 1110 1011 12 1010 1100 13 1011 1101 14 1001 1110 15 1000 1111 Ths kd o ecoder s a sgle-tur ecoder because the absolute posto o the motor shat ca oly be determed wth oe revoluto. 14 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Mult-tur ecoder I addto to sgle-tur desgs, there are also mult-tur ecoders that determe the absolute posto wth multple revolutos. Deret techologcal solutos are avalable or the revoluto detecto. Mcro gear ut stages that are scaed magetcally or optcally va code dsks are oe o the more commo solutos. The mult-tur ut s also avalable as a storg electroc couter. Wth a optcal rotary ecoder, the code dsks are decoupled rom each other wth gear ut stages wth a rato o = 16. Wth three addtoal code dsks (usual value), 16 x 16 x 16 = 4096 revolutos ca be absolutely resolved. [1] [2] [2] [2] = 16 = 16 = 16 Fg. 12: Arragemet o the code dsks 1369572491 [1] Code dsk or agle posto detecto [2] Code dsk or detectg the umber o revolutos Drve Egeerg ractcal Implemetato Ecoder Systems 15
2 What Are Ecoder Systems? How do ecoder systems work? Resolver The resolver s the most commoly used ecoder system or sychroous servomotors. A resolver ca determe the absolute posto o the motor shat wth oe motor revoluto. The speed ad the absolute posto are derved rom the resolver sgal each revoluto. Structure The resolver cossts o two ucto uts, the stator ad the rotor. α U 1 U 2 U R Fg. 13: Schematc structure o the resolver 1369284235 [1] [2] Fg. 14: Resolver 1369567627 [1] Stator o the resolver [2] Rotor o the resolver 16 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Fuctoal prcple The verter supples a hgh-requecy exctato sgal wth a costat ampltude ad requecy. Ths hgh-requecy sgal s traserred to the rotor o the resolver va the stator. The rotato o the resolver rotor duces the rotor-posto-depedet voltages to the stator wdg o the rotary trasormer. R1 S2 [1] [2] [1] U e U R U 2 R2 S4 [1] S1 U 1 Fg. 15: Equvalet crcut dagram o a resolver S3 1369630347 [1] Stator [2] Rotor U cos U s Fg. 16: Output voltage V cos ad V s o the resolver 1369632779 Sgal characterstcs The characterstcs o the sgals are calculated as ollows: V re = A x s (ω exctato x t) V cos (t) = A x ü x s(ω exctato x t) x cos(p x α) V s (t) = A x ü x s(ω exctato x t) x s(p x α) p x α = arcta (V s / V cos ) V re V cos V s A ω Exctato α ü p Reerece voltage Output voltage 1 o the stator Output voltage 2 o the stator eak value o the put voltage Agle requecy o V e Rotor agle Gear rato Number o pole pars o the resolver Drve Egeerg ractcal Implemetato Ecoder Systems 17
2 What Are Ecoder Systems? How do ecoder systems work? Depedg o the rotor posto, the ampltudes o the voltages V s ad V cos chage ad are ed to the evaluato va a deretal ampler each. The deretal amplers lter tererece sgals (commo mode tererece) o the solated track sgals V s ad V cos. The curret mechacal posto ca be determed rom the scaed track sgals: pxα = arcta( Us / Ucos ) The ollowg gure gves a overvew o the prcple hardware structure o a resolver evaluato that works accordg to the scag method. Exctato crcut Resolver exctato cotrol V Re Sgal processg Data Mcrocotroller V cos V s Fg. 17: Hardware resolver evaluato (smpled represetato) 2058735499 18 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 2.3.2 Lear ecoder systems Laser ecoder Laser dstace measurg strumets are ote used drve egeerg to measure dstaces o up to 250 m. The laser dodes sed a modulated beam as pulse or wth a certa requecy. Ths beam s relected by a relector ad receved by a photo dode system the devce. The propagato speed s 30 s/m. The dstace to the relector surace s determed based o the delay betwee the set ad the receved beam. For dstaces o up to about 50 m, you ca use laser dodes wthout relector ad the tragulato method or dstace measurg. [3] [1] [2] [4] [5] Fg. 18: Laser dstace measurg strumets 2262514571 [1] Relector or pla surace [2] relected sgal [3] set sgal [4] Dstace [5] hase sht Drve Egeerg ractcal Implemetato Ecoder Systems 19
2 What Are Ecoder Systems? How do ecoder systems work? Barcode ecoder A barcode strp s stalled alog the track ad s read by a barcode ecoder. Wth a vsble red-lght laser, the barcode ecoder determes ts posto relato to the barcode strp. Ths s bascally carred out 3 steps: 1. Readg the code o the barcode strp. 2. Determg the posto o the read code wth the sca rage o the laser beam. 3. Mllmeter-precse posto detecto based o code ormato/posto. The the posto value s trasmtted to the drve system o the respectve vehcle va the stadardzed terace (e.g. SSI terace). The beet o ths system s the very accurate postog over log dstaces. Further, t elmates dsturbaces such as ar pressure ad temperature, that have eects o covetoal laser dstace measurg devces. Ths system ca eve hadle curved tracks. Fg. 19: Barcode ecoder 2048051723 20 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Code ral For postog purposes wth log travel dstaces, there s the WCS dstace codg system. It s especally suted or plats wth curves, swtches ad clg/declg sectos. Wth measurg legths o up to 327 meters t s also sutable or posto detecto the ollowg elds: Storage ad materals hadlg systems Flm studo techology Crae postog Electroplatg plats Elevators Further, the WCS s sutable or the vehcle detcato materals hadlg systems wth mllmeter-precse postog o the respectve vehcle. Fg. 20: WCS dstace codg system 2048045963 Rulers A measurg system s requred or the operato o a sychroous lear motor order to determe the posto o the prmary. I the verter, the velocty s derved rom ths value ad the postog s carred out. There are deret crtera or the selecto o the approprate ecoder system depedg o the applcato: Maxmum speed Maxmum travel dstace Resoluto (accuracy requremets) Cotamato level EMC codtos Drve Egeerg ractcal Implemetato Ecoder Systems 21
2 What Are Ecoder Systems? How do ecoder systems work? Structure ad uctoal prcple o optcal travel dstace measurg systems A optcal travel dstace measurg system cossts o a measurg gauge made o glass or steel mouted o the track ad a scag ut that travels over the track. The scag ut cotas a lght source, photo elemets ad optcal lters or better recordg. The lght emtted by the lght source hts the measurg gauge ad s relected accordg to the appled ptch ad detected by the photo elemets. A electroc evaluato devce geerates a cremetal sgal. [1] [2] [5] [4] Fg. 21: Schematc represetato a optcal travel dstace measurg system [3] 1369635211 [1] Lght source ad photo elemet [2] Les [3] Scag plate [4] Relector [5] Lght waves Depedg o the resoluto, there are two deret operatg prcples: Dsplay prcple wth a le graduato o 20-100 µm Itererece prcple wth a le graduato o 4-8 µm Depedg o the usage codtos ad evrometal codtos, deret optcal systems desgs are used. 22 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Closed systems Maxmum travelg velocty about 2 m/s Good protecto rom evrometal codtos Wth mechacal cotrol Ope systems Structure ad uctoal prcple o magetc travel dstace measurg systems The system works wthout mechacal cotrol. The scag ut s attached to the movable part ad vrtually "loats" above the track, thus the maxmum travelg velocty s about 8 m/s. Almost o protecto rom evrometal codtos. Magetc travel dstace measurg systems comprse a maget strp ad a sesor. The magetc tape s attached to the track as a measurg tape. The sesor that s attached to the prmary travels over ths measurg tape. [1/s] l [mm] S N S N [A] Fg. 22: Magetc travel dstace measurg system 1369627915 [A] Resoluto The sesor measures the chages o the magetc eld stregth va a travel moto, whch a electroc evaluato devce uses to geerate a susodal sgal. The phaseshted cogurato o the two samplg uts wth a sesor geerates se or cose sgals. The se sgals o the samplg elemet ca be resolved hgher usg terpolato (D/ A coverter). Optoal electroc swtches tegrated the ecoders ca covert these se sgals to commoly used terace sgals such as TTL. These measurg tapes are also avalable wth a magetzed code or the absolute value. Reerece travel s ot requred ater startup or ecoder systems wth absolute value ormato. Wth lear absolute ecoders, the posto sgal s coverted to a dgtal protocol. Drve Egeerg ractcal Implemetato Ecoder Systems 23
2 What Are Ecoder Systems? How do ecoder systems work? Structure ad uctoal prcple o ductve travel dstace measurg systems Iductve travel dstace measurg systems work accordg to the prcple o varable reluctace. Markgs o a metallc measurg tape delect a magetc eld geerated by a cotrol ut. The electroc evaluato devce detects those eld chages ad coverts them to susodal sgals. The phase-shted cogurato o the two samplg uts wth a sesor geerates se or cose sgals. [1] N S [2] [3] Fg. 23: Schematc represetato a ductve travel dstace measurg system 1369623051 [1] Magetc eld les [2] Magetc sesors [3] Measurg tape cross-secto The measurg tape o the track s crucal to the accuracy o the measuremet. It cossts o several layers: The core s a metal strp whch the markgs are etched very precsely. These measurg tapes are also avalable wth a reerece mark. Depedg o the desg o the legth-measurg system, the reerece sgal s partally recorded by a separate sesor. Ths metal strp s embedded betwee the carrer ad cover tape. [1] [2] [3] [4] [5] Fg. 24: Structure o a measurg tape layers 1369625483 [1] Maskg tape [2] artto [3] Reerece marks [4] Steel carrer tape [5] Adhesve layer 24 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? How do ecoder systems work? 2 Optoal evaluato electrocs are avalable or ductve measurg systems or covertg the se ad cose sgals to a TTL sgal. The ollowg propertes o ductve travel dstace measurg systems must be take to accout durg project plag: Maxmum travelg velocty about 20 m/s Resoluto: 1000 µm/se cycle (s/cos sgal) 5-50 µm (TTL sgal) Accuracy about 10 µm/m Usually I66 desg Drt resstat Wre-actuated ecoder A wre-actuated ecoder bascally cossts o a measurg drum, a sprg retur ad a uwd mechasm. A covetoal ecoder s coected to ths uwd mechasm va a couplg. Wre-actuated ecoders are especally sutable or vertcal applcatos storage ad logstcs applcatos as well as stage techology. Fg. 25: Wre-actuated ecoder 2048049803 Drve Egeerg ractcal Implemetato Ecoder Systems 25
2 What Are Ecoder Systems? Whch ecoder wth whch motor? 2.4 Whch ecoder wth whch motor? 2.4.1 Ecoder systems or asychroous AC or servomotors Usually, there are two reasos or usg ecoder systems wth asychroous motors: Speed cotrol ( order to acheve a hgh speed qualty ad to optmze the respose to load chages) ostog Usually, the ollowg ecoders are used: Icremetal ecoders wth low resoluto ca oly be used or postog rather tha or speed cotrol oly smple postog (rapd/creep speed) thus less dyamc system reerece travel requred Icremetal ecoders or speed cotrol or postog reerece travel requred Absolute ecoder or postog o reerece travel requred. a addtoal ecoder system s requred or speed cotrol there s o realtme chael (combato ecoder wth ether s/cos, TTL, or HTL sgal) 26 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are Ecoder Systems? Whch ecoder wth whch motor? 2 2.4.2 Ecoder systems or sychroous servomotors Wth sychroous motors, the cotrol system addtoally requres the rotor posto or dyamc cotrol. Usually, wth sychroous servomotors, there are two systems or the rotor posto detecto: Resolver or rotor posto detecto or speed cotrol or postog reerece travel requred Absolute ecoder or rotor posto detecto Absolute ecoders or servomotors are usually combato ecoders wth a realtme chael (s/cos) or speed cotrol or postog sgle-tur ecoders usually requre a reerece travel mult-tur ecoders do ot requre a reerece travel 2.4.3 Ecoder systems or lear servo systems Rulers or postog wth absolute value ormato o the measurg tape, a reerece travel s ot requred wth mere cremetal ormato o the measurg tape, a reerece travel s requred Drve Egeerg ractcal Implemetato Ecoder Systems 27
2 What Are Ecoder Systems? Whch ecoder wth whch motor? 2.4.4 Ecoder systems or lear posto detecto For a exact postog wth systems subject to slp, a measurg system s requred o the track addto to the ecoders mouted to the motor. Laser ecoder or measurg dstaces o up to about 250 m Caot hadle curves Barcode ecoder ca be used or measurg very log dstaces Curves ad swtches are possble Code ral ca be used or measurg dstaces o up to about 320 m very robust system Curves ad swtches are possble Wre-actuated ecoder robust system deal or vertcal applcatos 28 Drve Egeerg ractcal Implemetato Ecoder Systems
How Are Ecoder Systems Used At SEW-EURODRIVE? Whch ecoder systems does SEW-EURODRIVE use? 3 3 How Are Ecoder Systems Used At SEW-EURODRIVE? Speed cotrol Setpot geerato ostog recotrol Speed cotroller Motor cotrol Rotor posto M G Cotrol value geerator N target X target osto cotroller Speed osto ormato Fg. 26: Speed ad posto cotrol crcut o a drve system 1958362251 3.1 Whch ecoder systems does SEW-EURODRIVE use? 3.1.1 Icremetal ecoders wth a low resoluto NV.. / EI.. / ES12/16/22/26 Wth cremetal ecoders wth a low resoluto, you ca realze smple o-dyamc postog tasks Further, those ecoders allow you to expesvely check whether the motor s turg. I a two-track ecoder s used, the drecto o rotato o the motor ca also be detected. 3.1.2 Icremetal ecoder E..T / E..C / E..S / E..R Icremetal ecoders are sutable or speed cotrol ad postog. They have 2 sgal tracks ad oe dex sgal track. Icremetal ecoders are avalable as hollow shat ecoders, spread shat ecoders, plug- shat wth ed thread, or sold shat ecoders wth couplg. Sgal output: TTL, HTL or s/cos. 3.1.3 Sgle-tur combato ecoders E..H / E..W The E..H ad E..W absolute ecoders are combato ecoders. They cota a sgletur absolute ecoder ad a hgh-resoluto susodal ecoder. A asychroous-seral terace s avalable or the data traser o the absolute values. They are sutable or the use wth sychroous motors. They ca be used or speed cotrol or or postog wth oe revoluto. Further, the E..H ad E..W absolute ecoders are equpped wth a electroc ameplate. 3.1.4 A..Y / A..H / A..W absolute ecoders The A..Y, A..H ad A..W absolute ecoders are combato ecoders. They cota a mult-tur absolute ecoder ad a hgh-resoluto susodal ecoder. You ca choose betwee a SSI terace or a asychroous-seral terace or data trasmsso o absolute values. Further, the A..H ad AS7W absolute ecoders are equpped wth a electroc ameplate. Drve Egeerg ractcal Implemetato Ecoder Systems 29
3 How Are Ecoder Systems Used At SEW-EURODRIVE? What s the structure o the type desgato o those ecoder systems? 3.2 What s the structure o the type desgato o those ecoder systems? E S 7 S Sgal type T V B = DC 5 V, TTL A Moutg devce desg C V B = DC 4,75 (9) 30 V, HTL or TTL H HIERFACE R V B = DC 7 (9) 30 V, TTL S V B = DC 7 (9) 30 V, S/Cos 1 V SS W V B = DC 7 30 V, RS485, s/cos 1 V SS Y SSI [sychroous seral terace] 1... 6 erods per revoluto M Resolver sgal L Resolver sgal Desg 1 0 7 Moutg/shat F postve, secured wth bolts S shat cetered, spread shat G shat-cetered, plug- shat I Itegrated V lage-cetered, sold shat H shat-cetered, hollow shat K shat-cetered, coe shat L Lear ecoder Ecoder type E Ecoder (cremetal ecoder or sgle-tur combato ecoder) A Absolute ecoder N roxmty sesor X Moutg devce or o-sew ecoders R Resolver 30 Drve Egeerg ractcal Implemetato Ecoder Systems
How Are Ecoder Systems Used At SEW-EURODRIVE? Whch products are the ecoder systems used wth? 3 3.3 Whch products are the ecoder systems used wth? 3.3.1 Rotary ecoders or AC motors ad asychroous servomotors Icremetal ecoders or DR motors Ecoder type Moutg type Istalled to Electrcal terace Resoluto Supply [V DC ] EH1T Add-o ecoder wth hollow DR63 TTL 1024 5 EH1S shat S/cos 9 26 EH1R TTL EH1C HTL EI7C / EI76 / EI72 / EI71 ES7S ES7R ES7C EG7S EG7R EG7C EV7S EV7R EV7C Bult- ecoder DR71 132 HTL 24 / 6 / 2 / 1 9 30 Add-o ecoder wth spread DR71 132 S/cos 1024 7 30 shat TTL Add-o ecoder wth plug- shat Add-o ecoders wth couplg TTL to HTL, depedg o supply 4.75 30 DR160 225 S/cos 1024 7 30 TTL TTL to HTL, depedg o supply 4.75 30 DR71 225 S/cos 1024 7 30 TTL TTL to HTL, depedg o supply 4.75 30 EH7T Add-o ecoder wth hollow DR315 TTL 1024 5 EH7S shat S/cos 10 30 EH7R TTL EH7C HTL Icremetal ecoders or DT/DV motors Ecoder type Moutg type Istalled to Electrcal terace Resoluto ES1T / ES2T Add-o ecoder wth spread DT71 DV225 shat CT71 CV200 Supply [V DC ] TTL 1024 5 ES1S / ES2S S/cos 9 26 ES1R / ES2R TTL ES1C / ES2C HTL EV1T / EV2T* Add-o ecoders wth couplg DT71 DV225 TTL 1024 5 EV1S CT71 CV200 S/cos 10 30 EV1R: TTL EV1C HTL ES12 Add-o ecoder wth spread DT71 DV100 HTL 1 / 2 9 26 ES16 shat HTL 6 ES22 DV112 DV132S HTL 1 / 2 ES26 HTL 6 * Ecoder wth Ex desg Drve Egeerg ractcal Implemetato Ecoder Systems 31
3 How Are Ecoder Systems Used At SEW-EURODRIVE? Whch products are the ecoder systems used wth? Sgle-tur/mult-tur absolute ecoder Ecoder type AS7W AG7W AS7Y AG7Y AH7Y Moutg type Istalled to Electrcal terace Resoluto Add-o ecoder wth spread shat Add-o ecoder wth plug- shat Add-o ecoder wth spread shat Add-o ecoder wth plug- shat Add-o ecoder wth hollow shat DR71-132 RS485 (mult-tur) + 1 V s/cos DR160-225: RS485 (mult-tur) + 1 V s/cos DR71-132 M-SSI (mult-tur) + 1 V s/cos DR160-225: M-SSI (mult-tur) + 1 V s/cos DR315 M-SSI (mult-tur) + TTL AV7Y Add-o ecoders wth couplg DR71 225 M-SSI (mult-tur) + 1 V s/cos AV7W Add-o ecoders wth couplg DR71 225 RS485 (mult-tur) + 1 V s/cos AS3H / AS4H AV1H / AV6H Add-o ecoder wth spread shat DT71 DV132S CT71 CV132S Add-o ecoders wth couplg DT71 DV225 CT71 CV200L AV1Y Add-o ecoders wth couplg DT71 DV225 CT71 CV200L HIERFACE (multtur) + 1 V s/cos HIERFACE (multtur) + 1 V s/cos M-SSI (mult-tur) + 1 V s/cos Supply [V DC ] 2048 7 30 2048 7 30 2048 7 30 2048 7 30 2048 7 30 2048 7 30 2048 7 30 4096 7 12 1024 7 12 512 10 30 M-SSI: Mult-tur sychroous-seral terace roxmty sesor Ecoder type Moutg type Istalled to Electrcal terace Resoluto Supply [V DC ] NV11 Radal o a guard DT71 DV132S HTL 1 10 30 NV21 1 NV12 2 NV22 2 NV16 6 NV26 6 32 Drve Egeerg ractcal Implemetato Ecoder Systems
How Are Ecoder Systems Used At SEW-EURODRIVE? Whch products are the ecoder systems used wth? 3 3.3.2 Rotary ecoders or sychroous servomotors Sgle-tur/mult-tur absolute ecoder Ecoder type AK0H EK0H AS1H ES1H AK1H EK1H AV1H AV1Y AF1H EF1H M-SSI: Bult- ecoder wth cocal shat Bult- ecoder wth cocal shat Bult- ecoder wth spread shat Bult- ecoder wth spread shat Bult- ecoder wth cocal shat Bult- ecoder wth cocal shat Add-o ecoders wth couplg Add-o ecoders wth couplg Bult- ecoder wth spread shat, postve coecto at the shat coecto Bult- ecoder wth spread shat, postve coecto at the shat coecto CM40 CMD55, 70 CM40 CMD55, 70 CM50, 63 CMD93, 138 DS/CM CM50, 63 CMD93, 138 DS/CM CM71 160 CMD93 162 CM71 160 CMD93 162 Mult-tur sychroous-seral terace HIERFACE (mult-tur) + 1 V s/cos HIERFACE (sgle-tur) + 1V s/cos HIERFACE (mult-tur) + 1 V s/cos HIERFACE (sgle-tur) + 1V s/cos HIERFACE (mult-tur) + 1 V s/cos HIERFACE (sgle-tur) + 1V s/cos DS/CM HIERFACE (mult-tur) + 1 V s/cos DS/CM M-SSI (mult-tur) + 1 V s/cos CM71 CM112 HIERFACE (mult-tur) + 1 V s/cos CM71 CM112 HIERFACE (sgle-tur) + 1V s/cos Moutg type Istalled to Electrcal terace Resoluto Supply [V DC ] 128 7 12 7 12 1024 7 12 7 12 1024 7 12 7 12 1024 7 12 512 10 30 1024 7 12 7 12 Drve Egeerg ractcal Implemetato Ecoder Systems 33
3 How Are Ecoder Systems Used At SEW-EURODRIVE? Whch products are the ecoder systems used wth? Resolver Resolver type RH1M RH1L RH3M RH3L RH4M / RH4L RH5M / RH5L RH6M / RH6L Moutg type Istalled to Electrcal terace Bult- ecoder wth hollow shat Bult- ecoder wth hollow shat or the secod shat ed DS / CM / CM / CMD sychroous servomotors CM Sychroous servo brakemotors DS / CM / CM / CMD sychroous servomotors CM Sychroous servo brakemotors Specal desg Specal desg Specal desg Resolver sgals, 2-pole Resoluto Supply [V AC ] - 7 Lear absolute ecoders Ecoder type AL1H Moutg type Istalled to Electrcal terace Resoluto Add-o ecoders or sychroous lear motors SL2 sychroous lear motors HIERFACE (mult-tur) + 1 V s/cos 0,5/100 mm Supply [V DC ] 7 12 Lear hall sesor ecoders Ecoder type NL16 Moutg type Istalled to Electrcal terace Resoluto Add-o ecoders or sychroous lear motors SLC 3 TTL sgals wth a 120 oset Supply [V DC ] 6/100 mm 24 34 Drve Egeerg ractcal Implemetato Ecoder Systems
How Are Ecoder Systems Used At SEW-EURODRIVE? How do you perorm the project plag or ecoder systems? 3 3.4 How do you perorm the project plag or ecoder systems? The use o a certa ecoder depeds o the applcato requremets. I the applcato s ot very dyamc, rapd/creep speed postog va a low-resoluto cremetal ecoder mght be sucet. However, speed cotrol s requred or dyamc postog. A hgh resoluto s requred or a hgh speed cotrol qualty. Ths s why SEW-EURO- DRIVE recommeds s/cos ecoders. The sgals are scaed wth a A/D coverter that acheves a hgher resoluto tha the typcal 1024 (4096 due to quadruple evaluato) cremets o a TTL or HTL cremetal ecoder. Lear systems are ote used the track or travel dstace postog. The advatage s that those systems measure drectly at the track ad are thus depedet rom the slp o the drve system. The ollowg table lsts the most mportat beets o the ecoder systems. Ecoder system [SEW type] Characterstcs Output sgal S/cos ecoder Icremetal ecoder Icremetal ecoder wth low resoluto 1024 s/cos perods 1024 perods/revoluto (HTL/ TTL level) 1 to 24 perods Accuracy < 2 agular mutes < 7 agular mutes < 300 agular mutes (EI7C) Maxmum useable resoluto < 22 bts < 14 bts < 5 bts (EI7C) Operatg temperature -30 C to +100 C -30 C to +85 C -30 C to +60 C Mechacal lueces Use Shock 200 g / 1 ms Vbrato 10 g / 10-2000 For speed cotrol ad "cremetal" postog Shock 200 g / 6 ms Vbrato 10 g / 10-2000 For speed cotrol ad "cremetal" postog - For smple "cremetal" postog Sutable or Asychroous servomotors Asychroous AC motors Asychroous AC motors Speed cotrol Other eatures Sutable or dyamc applcatos Smple startup due to electroc ameplate Sutable or dyamc applcatos wth restrctos the lower speed rage Smple ecoder system or stadard applcatos - - Drve Egeerg ractcal Implemetato Ecoder Systems 35
3 How Are Ecoder Systems Used At SEW-EURODRIVE? How do you perorm the project plag or ecoder systems? Ecoder system [SEW type] Characterstcs Output sgal Maxmum useable resoluto Resolver Ampltude-modulated s/cos sgal, 2-pole Absolute ecoder wth asychroous-seral terace (s/ cos ecoder wth absolute value) up to 2048 s/cos perods up to 32768 cremets/revoluto (absolute) up to 65536 revolutos (absolute) < 16 bts < 22 bts < 22 bts SSI absolute ecoder up to 2048 s/cos perods up to 4096 cremets/revoluto (absolute) up to 4096 revolutos (absolute) Accuracy < 40 agular mutes < 2 agular mutes < 2 agular mutes Operatg temperature -55 C to +125 C -20 C to +115 C -40 C to +100 C Mechacal lueces Use Shock 100 g / 11 ms Vbrato 20 g / 10-50 For speed cotrol ad determg the rotor posto wth oe motor revoluto as well as "cremetal" postog Sutable or Sychroous servomotors Speed cotrol Other eatures Sutable or dyamc applcatos Mechacally very robust Shock 100 g / 10 ms Vbrato 20 g / 10-2000 For speed cotrol ad determg the rotor posto ad absolute posto Sychroous servomotors Asychroous servomotors AC motors Sutable or hghly-dyamc ad dyamc applcatos Smple startup due to electroc ameplate Shock 100 g / 10 ms Vbrato 20 g / 10-2000 For speed cotrol ad determg the rotor posto ad absolute posto Sychroous servomotors Asychroous servomotors AC motors Sutable or hghly-dyamc ad dyamc applcatos - 36 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? Icremetal rotary ecoders wth spread ad plug- shat 4 4 What Are The Techcal Data O These Ecoder Systems? 4.1 Icremetal rotary ecoders wth spread ad plug- shat Ecoder type ES7S EG7S For motors DR71 132 DR160 225 Supply voltage V B DC 7 V 30 V Max. curret cosumpto I 140 ma RMS Max. pulse requecy max 150 k erods per revoluto A, B 1024 C 1 Output ampltude per track V hgh V low 1 V SS Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 ± 3 Data memory 1920 bytes Vbrato resstace 100 m/s² Shock resstace 1000 m/s² 2000 m/s² Maxmum speed max 6000 m -1 Mass m 0.35 kg 0.65 kg Degree o protecto I66 Ambet temperature ϑ A -30 C to +60 C Coecto Termal box o cremetal ecoder Ecoder type ES7R EG7R For motors DR71 132 DR160 225 Supply voltage V B DC 7 30 V Max. curret cosumpto I 160 ma RMS Max. pulse requecy max 120 k erods per revoluto A, B 1024 C 1 Output ampltude per track V hgh DC 2.5 V V low DC 0.5 V Sgal output TTL Output curret per track I out 25 ma RMS Mark space rato 1 : 1 ± 10 % hase agle A : B 90 ± 20 Data memory - Vbrato resstace 100 m/s² 200 m/s² Shock resstace 1000 m/s² 2000 m/s² Maxmum speed max 6000 rpm Mass m 0.35 kg 0.65 kg Degree o protecto I66 Ambet temperature ϑ A -30 C to +60 C Coecto Termal box o cremetal ecoder Drve Egeerg ractcal Implemetato Ecoder Systems 37
4 What Are The Techcal Data O These Ecoder Systems? Icremetal rotary ecoders wth spread ad plug- shat Ecoder type ES7C EG7C For motors DR71 132 DR160 225 Supply voltage V B DC 4.75 30 V Max. curret cosumpto I 240 ma RMS Max. pulse requecy max 120 k erods per revoluto A, B 1024 C 1 Output ampltude per track V hgh DC 2.5 V V low DC 1.1 V Sgal output HTL Output curret per track I out 60 ma RMS Mark space rato 1 : 1 ± 10 % hase agle A : B 90 ± 20 Data memory - Vbrato resstace 100 m/s² Shock resstace 1000 m/s² 2000 m/s² Maxmum speed max 6000 rpm Mass m 0.35 kg 0.65 kg Degree o protecto I66 Ambet temperature ϑ A -30 C to +60 C Coecto Termal box o cremetal ecoder ES1T ES1S ES1R Ecoder type ES2T ES2S ES2R For motors DT71 DV225, CT71 200CV Supply voltage V B DC 5 V DC 9 26 V ES1C ES2C Max. curret cosumpto I 180 ma RMS 160 ma RMS 180 ma RMS 340 ma RMS Max. pulse requecy max 120 k erods per revoluto A, B 1024 C 1 Output ampltude per track V hgh DC 2.5 V 2.5 VDC V B DC - 3.5 V 1 V SS V low DC 0.5 V DC 0.5 V 1.5 VDC Sgal output TTL S/cos TTL HTL Output curret per track I out 20 ma RMS 40 ma RMS 20 ma RMS 60 ma RMS Mark space rato 1 : 1 ± 20 % S/cos 1 : 1 ± 20 % hase agle A : B 90 ± 20 90 90 ± 20 Data memory - Vbrato resstace 100 m/s² Shock resstace 1000 m/s² Maxmum speed max 10000 rpm Mass m 0.38 kg Degree o protecto I66 Ambet temperature ϑ A -30 C to +60 C Coecto Termal box o cremetal ecoder 38 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? Icremetal rotary ecoders wth sold shat 4 Ecoder type EH7S For motors DR315 Supply voltage V B DC 10 V 30 V Max. curret cosumpto I 140 ma RMS Max. pulse requecy max 180 k erods per revoluto A, B 1024 C 1 Output ampltude per track V hgh 1 V SS V low Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 ± 10 Data memory - Vbrato resstace 100 m/s² Shock resstace 2000 m/s² Maxmum speed max 6000 rpm at 70 C / 3500 rpm at 80 C Mass m 0.8 kg Degree o protecto I65 Ambet temperature ϑ A -20 C to +60 C Coecto 12-p plug coector 4.2 Icremetal rotary ecoders wth sold shat Ecoder type EV1T EV1S EV1R: EV1C EV7S For motors DT71 DV225, CT71 200CV DR71 225 Supply voltage V B DC 5 V DC 10 V 30 V DC 7 V 30 V Max. curret cosumpto I 180 ma RMS 160 ma RMS 180 ma RMS 340 ma RMS 140 ma RMS Max. pulse requecy max 120 k 150 k erods per revoluto A, B 1024 C 1 Output ampltude per track V hgh DC 2.5 V 2.5 VDC V B DC - 3.5 V 1 V SS V low DC 0.5 V DC 0.5 V 1.5 VDC 1 V SS Sgal output TTL S/cos TTL HTL S/cos Output curret per track I out 20 ma RMS 40 ma RMS 20 ma RMS 60 ma RMS 10 ma RMS Mark space rato 1 : 1 ± 20 % S/cos 1 : 1 ± 20 % S/cos hase agle A : B 90 ± 20 90 90 ± 20 90 ± 3 Data memory - Vbrato resstace 300 m/s² Shock resstace 1000 m/s² Maxmum speed max 6000 rpm Mass m 0.3 kg Degree o protecto I66 Ambet temperature ϑ A -30 C to +60 C Coecto Termal box o cremetal ecoder Drve Egeerg ractcal Implemetato Ecoder Systems 39
4 What Are The Techcal Data O These Ecoder Systems? SSI absolute ecoder 4.3 SSI absolute ecoder Ecoder type AS7Y AG7Y For motors DR71 132 DR160 225 Supply voltage V B DC 7 30 V Max. curret cosumpto I 140 ma RMS Max. pulse requecy max 200 k erods per revoluto A, B 2048 C - Output ampltude per track V hgh V low 1 V SS Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 ± 3 Scag code Gray code Sgle-tur resoluto 4096 cremets / revoluto Mult-tur resoluto 4096 revolutos Data traser sychroous-seral Seral data output Drver accordg to EIA RS-485 Seral clock put Optocoupler, recommeded drver to EIA RS-485 Clock rate ermtted rage: 100 2000 k (max. 100 m cable legth wth 300 k) Clock-pulse space perod 12 30 µs Data memory 1920 bytes Vbrato resstace 100 m/s² Shock resstace 1000 m/s² 2000 m/s² Maxmum speed max 6000 rpm Mass m 0.4 kg 0.7 kg Degree o protecto I66 Ambet temperature ϑ B -20 C to +60 C Coecto Termal strp pluggable coecto cover 40 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? SSI absolute ecoder 4 Ecoder type AV1Y For motors CT71 DV200L, DT71 DV225, DS/CM Supply voltage V B DC 10 30 V Max. curret cosumpto I 250 ma RMS Max. pulse requecy max 100 k erods per revoluto A, B 512 C - Output ampltude per track V hgh 1 V SS V low Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 Scag code Gray code Sgle-tur resoluto 4096 cremets / revoluto Mult-tur resoluto 4096 revolutos Data traser sychroous-seral Seral data output Drver accordg to EIA RS-485 Seral clock put Optocoupler, recommeded drver to EIA RS-485 Clock rate ermtted rage: 90 300 1100 k (max. 100 m cable legth wth 300 k) Clock-pulse space perod 12 35 µs Data memory - Vbrato resstace 300 m/s² Shock resstace 1000 m/s² Maxmum speed max 6000 rpm Mass m 0.3 kg Degree o protecto I64/67 Ambet temperature ϑ B -40 C to +60 C xed cable stallato; -10 C to +60 C lexble cable stallato Coecto 1 m (3.3 t) cable wth 17-p roud coector Drve Egeerg ractcal Implemetato Ecoder Systems 41
4 What Are The Techcal Data O These Ecoder Systems? Resolver Ecoder type AH7Y For motors DR315 Supply voltage V B DC 9 30 V Max. curret cosumpto I 150 ma RMS Max. pulse requecy max 120 k erods per revoluto A, B 2048 C - Output ampltude per track V hgh 2.5 V SS Sgal output V low 0.5 V SS TTL Output curret per track I out 20 ma RMS Mark space rato 1 : 1 ± 20 % hase agle A : B 90 ± 20 Scag code Gray code Sgle-tur resoluto 4096 cremets / revoluto Mult-tur resoluto 4096 revolutos Data traser sychroous-seral Seral data output Drver accordg to EIA RS-485 Seral clock put Optocoupler, recommeded drver to EIA RS-485 Clock rate ermtted rage: 100 800 k (max. 100 m cable legth wth 300 k) Clock-pulse space perod 12 30 µs Data memory - Vbrato resstace 100 m/s² Shock resstace 2000 m/s² Maxmum speed max 3500 rpm Mass m < 3 kg Degree o protecto I56 Ambet temperature ϑ B -20 C to +60 C Coecto Termal strp o ecoder 4.4 Resolver Ecoder type RH1M / RH1L For motors DS / CM / CM / CMD sychroous servomotors Supply voltage V 12 7V AC_e / 7 k Number o poles 2 Gear rato ü 0.5 ± 10% Output mpedace Z SS 200 to 330 Ω Ambet temperature ϑ B -40 C to +60 C Coecto 12 pole crcular coector (Itercotec) or termal box coecto 42 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? Absolute ecoder wth asychroous-seral terace 4 4.5 Absolute ecoder wth asychroous-seral terace Ecoder type AS7W AG7W For motors DR71 132 DR160 225 Supply voltage V B DC 7 30 V Max. curret cosumpto I 150 ma RMS Max. pulse requecy max 200 k erods per revoluto A, B 2048 C - Output ampltude per track V hgh V low 1 V SS Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 ± 3 Scag code Bary code Sgle-tur resoluto 8192 cremets / revoluto Mult-tur resoluto 65536 revolutos Data traser RS485 Seral data output Drver accordg to EIA RS-485 Seral clock put Optocoupler, recommeded drver to EIA RS-485 Clock rate 9600 baud Clock-pulse space perod - - Data memory 1920 bytes Vbrato resstace 100 m/s² 200 m/s² Shock resstace 1000 m/s² 2000 m/s² Maxmum speed max 6000 rpm Mass m 0.4 kg 0.7 kg Degree o protecto I66 Ambet temperature ϑ A -20 C to +60 C Coecto Termal strp pluggable coecto cover Drve Egeerg ractcal Implemetato Ecoder Systems 43
4 What Are The Techcal Data O These Ecoder Systems? Absolute ecoder wth asychroous-seral terace Ecoder type ES1H AS1H EK1H AK1H For motors CM50 / 63, CDM93 / 138, DS/CM CM40, CMD55 / 70 Supply voltage V B DC 7 12 V Max. curret cosumpto I 130 ma RMS Max. pulse requecy max 200 k erods per revoluto A, B 1024 C - Output ampltude per track V hgh V low 1 V SS Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 Scag code Bary code Sgle-tur resoluto 32768 cremets / revoluto Mult-tur resoluto - 4096 revolutos - 4096 revolutos Data traser RS485 Seral data output Drver accordg to EIA RS-485 Seral clock put - Clock rate 9600 baud Clock-pulse space perod - Data memory 1792 bytes Vbrato resstace 200 m/s² Shock resstace 1000 m/s² Maxmum speed max 6000 rpm Mass m 0.2 kg Degree o protecto I40 Ambet temperature ϑ A -20 C to +60 C Coecto 12 pole crcular coector (Itercotec) or termal box coecto 44 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? Absolute ecoder wth asychroous-seral terace 4 Ecoder type AS3H AS4H For motors DT71 DV132S, CT71 CV132S Supply voltage V B DC 7 12 V Max. curret cosumpto I 130 ma RMS Max. pulse requecy max 200 k erods per revoluto A, B 1024 C - Output ampltude per track V hgh 1 V SS V low Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 Scag code Bary code Sgle-tur resoluto 32768 cremets / revoluto Mult-tur resoluto 4096 revolutos Data traser RS485 Seral data output Drver accordg to EIA RS-485 Seral clock put Optocoupler, recommeded drver to EIA RS-485 Clock rate - Clock-pulse space perod - Data memory 1792 bytes Vbrato resstace 200 m/s² Shock resstace 1000 m/s² Maxmum speed max 6000 rpm Mass m 0.3 kg Degree o protecto I65 Ambet temperature ϑ A -20 C to +60 C Coecto M23 12-pole Drve Egeerg ractcal Implemetato Ecoder Systems 45
4 What Are The Techcal Data O These Ecoder Systems? Absolute ecoder wth asychroous-seral terace Ecoder type AV1H For motors DT71 DV225, CT71 DV200L, DS/CM Supply voltage V B DC 7 12 V Max. curret cosumpto I 130 ma RMS Max. pulse requecy max 200 k erods per revoluto A, B 1024 C - Output ampltude per track V hgh V low 1 V SS Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 Scag code Bary code Sgle-tur resoluto 32768 cremets / revoluto Mult-tur resoluto 4096 revolutos Data traser RS485 Seral data output Drver accordg to EIA RS-485 Seral clock put Optocoupler, recommeded drver to EIA RS-485 Clock rate - Clock-pulse space perod - Data memory 1792 bytes Vbrato resstace 200 m/s² Shock resstace 1000 m/s² Maxmum speed max 6000 rpm Mass m 0.55 kg Degree o protecto I65 Ambet temperature ϑ A -20 C to +60 C Coecto M23 12-pole 46 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? Absolute ecoder wth asychroous-seral terace 4 Ecoder type EK0H AK0H For motors CM40, CMD55 / 70 Supply voltage V B DC 7 12 V Max. curret cosumpto I max 110 ma RMS Max. pulse requecy max 65 k erods per revoluto A, B 128 C - Output ampltude per track V hgh 1 V SS V low Sgal output S/cos Output curret per track I out 10 ma RMS Mark space rato S/cos hase agle A : B 90 Scag code Bary code Sgle-tur resoluto 4096 cremets / revoluto Mult-tur resoluto - 4096 revolutos Data traser RS485 Seral data output Drver to EIA RS485 Seral clock put - Clock rate - Clock-pulse space perod - Data memory 1792 bytes Vbrato resstace 500 m/s² Shock resstace 1000 m/s² Maxmum speed max 12000 rpm 9000 rpm Mass m 0,065 kg Degree o protecto I50 Ambet temperature ϑ A -20 C to +110 C Coecto 12-p roud coector Drve Egeerg ractcal Implemetato Ecoder Systems 47
4 What Are The Techcal Data O These Ecoder Systems? Bult- ecoder 4.6 Bult- ecoder Ecoder type EI7C EI76 / EI72 / EI71 For motors DR71 132 Supply voltage V B DC 9 30 V Max. curret cosumpto I max 120 ma RMS Max. pulse requecy max 1,54 k erods per revoluto A, B 24 6, 2, 1 C - - Output ampltude per track V hgh V B -2.5 V SS Sgal output V low 0.5 V SS HTL Output curret per track I out 60 ma RMS Mark space rato 1 : 1 ± 20 % hase agle A : B 90 ± 20 Data memory - Vbrato resstace 100 m/s² Shock resstace 1000 m/s² Maxmum speed max 3600 rpm Mass m 0.2 kg Degree o protecto I65 Ambet temperature ϑ A -30 C to +60 C Coecto Termal strp the termal box or M12 (8-p) 4.7 roxmty sesor Ecoder type NV11 NV12 NV16 NV21 NV22 NV26 or motors/brakemotors DT71 DV132S Supply voltage V B DC 10 30 V Max. curret cosumpto I max 200 ma RMS Max. pulse requecy max 1.5 k erods per revoluto 1 2 6 1 2 6 A track A track A track A+B tracks A+B tracks A+B tracks Output NO cotact (pp) Mark space rato 1 : 1 ± 20 % hase agle A : B 90 ± 45 % Degree o protecto I67 Ambet temperature ϑ A 0 C to +60 C Coecto M12 1 coector, e.g. RKWT4 (Lumberg) 48 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Techcal Data O These Ecoder Systems? Moutg devce 4 4.8 Moutg devce Moutg devce ES7A EG7A EH7A For motors DR71 132 DR160 225 DR315 Moutg type o ecoder Shat cetered Hollow shat Motor shat type Sutable or ecoder 10 mm bore 14 mm bore wth M6 ed thread Shat ed 38 mm 116 mm ES7S EG7S EH7S ES7R EG7R - AS7Y AG7Y AH7Y AS7W AG7W - Moutg devce XV0A XV1A XV2A XV3A XV4A For motors DR71 225 Moutg type o ecoder Flage cetered wth couplg Type Ecoder shat Ay 6 mm 10 mm 12 mm 11 mm Ceterg Ay 50 mm 50 mm 80 mm 85 mm Sutable or ecoder rovded by the customer or by SEW-EURODRIVE o behal o the customer. Moutg devce ES1A ES2A For motors DT71 100 DV112 132S For ecoder Spreadshat ecoders wth 8 mm ceter bore Spreadshat ecoders wth 10 mm ceter bore Moutg devce EV1A AV1A For motors DT71 DV225 DY71 112 For ecoder Sold shat ecoder (sychroous lage) Flage dameter 58 mm Ceter bore dameter 50 mm Shat ed dameter 6 mm Legth o shat ed 10 mm Fasteg 3 xg clamps (screws wth eccetrc dsks) or 3 mm lages Drve Egeerg ractcal Implemetato Ecoder Systems 49
5 How Is The Ecoder Mouted Mechacally? Spread-shat ecoder (DR ad DT/DV motors) 5 How Is The Ecoder Mouted Mechacally? 5.1 Spread-shat ecoder (DR ad DT/DV motors) Whe the ecoder s mouted wth a spread ahst, there s a o-postve coecto betwee the motor shat ad the ecoder shat. Tghteg the screw the ecoder shat pulls up a coe that spreads the otched ecoder shat. Thus the ecoder shat s jammed sde the mottor shat ad trasmts the rotatg moto. The resultg ecoder torque s supported o the a guard. DR 71 132 DT 71 90 DV 100 132S [1] [4] [2] [3] [5] Fg. 27: Spread-shat ecoder 2165466763 [1] Motor shat [2] Ecoder shat [3] Screw wth the ecoder shat [4] COe [5] Fa guard 50 Drve Egeerg ractcal Implemetato Ecoder Systems
How Is The Ecoder Mouted Mechacally? lug- shat wth ed thread (DR motors oly) 5 5.2 lug- shat wth ed thread (DR motors oly) The ecoder s xed va a combato o tererece t ad thread clampg. The dameter at the ed o the larger bore o the motor shat s smaller tha at the gude. I you tghte the screw the ecoder shat, t pulls the ecoder to ths smaller dameter, resultg a tererece t. I addto, the thread s braced agast the ecoder that s completely pulled. Thus the ecoder shat s jammed sde the mottor shat ad trasmts the rotatg moto. The resultg ecoder torque s supported o the a guard. DR 160 225 [1] [7] [6] [8] [3] [2] [5] Fg. 28: Moutg o DR motor 2165468683 [1] Motor shat [2] Ecoder shat [3] Screw wth the ecoder shat [5] Fa guard [6] Itererece t [7] Thread clampg [8] Large bore o the motor shat Drve Egeerg ractcal Implemetato Ecoder Systems 51
5 How Is The Ecoder Mouted Mechacally? Bult- ecoder (oly DR-motors) 5.3 Bult- ecoder (oly DR-motors) Wth ths varat, the ecoder does ot have to be drectly coected to the motor shat. The ecoder module s screwed o the edsheld. Cylder head screws ad dstace bushg are requred or brakemotors. A addtoal support plate s requred or sze DR 112/132. I addto, a specal a wth tegrated magets must be stalled o the motor shat. DR 71 132 [1] [2] [2] Fg. 29: Bult- ecoder 2165461003 [1] Ecoder module [2] Maget 52 Drve Egeerg ractcal Implemetato Ecoder Systems
How Is The Ecoder Mouted Mechacally? Moutg devce (DR ad DT/DV motors) 5 5.4 Moutg devce (DR ad DT/DV motors) Istead o beg coected drectly to the motor shat, the ecoder s coected va a couplg. The couplg the motor shat (here brakemotor) hase the same dmesos as the covetoal ecoder coecto (spread shat or thread bore). The couplg hal o the ecoder ed s adapted to the dmesos o hte requred eccoder shat. Thus you ca stall ay ecoder. The torque s balaced va the a guard. DR 71 225 or o-sew ecoders DR 71 225 or EV7A DV 132M 225 or all ecoders [1] [9] Fg. 30: No-SEW ecoder moutg devce [10] [2] [5] 2165496203 [1] Motor shat [2] Ecoder shat [5] Fa guard wth ecoder mout [9] Couplg wth the motor shat [10] Couplg hal o the ecoder ed Drve Egeerg ractcal Implemetato Ecoder Systems 53
5 How Is The Ecoder Mouted Mechacally? Hollow-shat ecoder (oly DR 315) 5.5 Hollow-shat ecoder (oly DR 315) Whe the ecoder s coected wth va a hollow shat, the motor shat s ot equpped wth a bore. The ecoder shat s equpped wth a through hole ad s pushed o the motor shat. Depedg o the ecoder varat (pulse or absolute value), wth or wthout a sleeve. I both cases, the torque s supported va the a guard. The gure shows both ecoder varats. [5] [11] [2] [1] [12] Fg. 31: Hollow-shat ecoder 2165464843 [1] Motor shat [2] Ecoder shat [5] Fa guard [11] ulse [12] Absolute value 54 Drve Egeerg ractcal Implemetato Ecoder Systems
How Is The Ecoder Mouted Mechacally? Coe shat eccoder (CM motors) 5 5.6 Coe shat eccoder (CM motors) 5.6.1 Coecto varat 1 (AK0H) For moutg a coe shat ecoder, the motor shat must be equpped wth a tapped hole ad a sutable coe hole. The output shat must be blocked or the assembly o the coe shat eccoder. The the ecoder shat ca be screwed to the motor shat wth a specal assembly devce. The screws must ot hook to the retag holes o the motor. The output shat must be released beore the torque ca be supported. The the ecoder must be tured utl the screws the moutg plate are above the retag holes o the motor. The the screws must be tghteed alterately. Ths wl release the ecoder shat. CM 40 63 [2] [1] [4] [5] [3] Fg. 32: Coe shat ecoder varat 1 (AK0H) 2165459083 [1] Tapped hole [2] Coe hole [3] Screw [4] Moutg plate [5] Retag holes Drve Egeerg ractcal Implemetato Ecoder Systems 55
5 How Is The Ecoder Mouted Mechacally? Coe shat eccoder (CM motors) 5.6.2 Coecto varat 2 (EK1H, AK1H) For moutg a coe shat ecoder, the motor shat must be equpped wth a tapped hole ad a sutable coe hole. The output shat must bee blocked or the assembly. The the ecoder s pushed o the motor shat. Tghteg the screw wll press the coe o hte ecoder shat to the motor shat. The sprg plate o the torque arm s attachedd to the edsheld wth 2 screws. CM 71 100 [4] [1] [3] [2] Fg. 33: Coe shat ecoder varat 2 (EK1H, AK1H) 2165462923 [1] Tapped hole [2] Coe hole [3] Screw [4] Screws o edsheld 56 Drve Egeerg ractcal Implemetato Ecoder Systems
What Are The Settg Speccatos For The Ecoder Assembly? Settg speccatos or motors wth HIERFACE ecoders 6 6 What Are The Settg Speccatos For The Ecoder Assembly? Usually, sychroous servomotors are equpped wth resolvers wth s/cos absolute ecoders. Wth the data determed by the posto ecoders, the servo verter esures that the rotor dsplacemet agle s 90. However, the posto ecoders must be exactly alged wth the poles o the permaet magets. Oly the ca the exteral magetc eld o the stator orm wth a 90 oset. Ths s also called commutato. The commutato s perormed at the ed o the motor assembly. For motors wth resolver, the statoary part s rotated mechacally accorrdg to the settg speccatos beore t s xed. For motors wth s/cos combato ecoders, the absolute ormato s reset electrcally wth oe motor revoluto accordg to the settg speccatos wth the ecoder already xed place. 6.1 Settg speccatos or motors wth HIERFACE ecoders Settg speccato: Motor wthout load, brake released. Rotor ca reely alg the stator eld. Motor suppled wth AC power (80% I o ): Motor termal U V W Supply Ope mus plus Rotor algs the eld. Ecoder agle reset ths rotor posto. Drve Egeerg ractcal Implemetato Ecoder Systems 57
6 What Are The Settg Speccatos For The Ecoder Assembly? Resolver settg speccatos or SEW motors CM71 112 6.2 Resolver settg speccatos or SEW motors CM71 112 U p0 [1] [3] [2] - U p0 [1] V p (α) [2] V cos (α) [3] V s (α) 0 α 2π 2238466955 Number o pole pars motor: p M = 3, umber o pole pars resolver: p R = 1 Settg speccato (see gure): Resolver zero posto [V cos (S1-S3) pos. max., V s (S2-S4) pos. zero passage] cocdes wth pos. maxmum o the EMF Up le U (wth CW rotor rotato as vewed o the put shat ed). Adjustmet check: Motor wthout load, brake released The ollowg apples to a AC power supply (motor termal W+, termal V-, termal U ope): S2-S4 (s) pos. zero passage, S1-S3 (cos) pos. maxmum Drecto o rotato check: The ollowg apples to supply va termals U, W+, V-: S1- S3 pos., S2-S4 pos. 58 Drve Egeerg ractcal Implemetato Ecoder Systems
What Geeral Istallato Notes Must Be Observed? Ecoder le sheld o verter 7 7 What Geeral Istallato Notes Must Be Observed? Whe coectg the ecoders to the verters, always ollow the operatg structos or the relevat verter ad the wrg dagrams suppled wth the ecoders. Maxmum cable legth (verter ecoder): 100 m wth a capactace per ut legth: < 83 F/km (core / core) accordg to DIN VDE 0472 part 504 < 110 F/km (core / sheld) Core cross secto: 0,2 0,5 mm² Use shelded cable wth twsted par coductors ad apply sheld over large area o both eds: to the ecoder the cable glad or the ecoder plug To the verter o the electrocs sheld clamp or to the housg o the D-sub coector Istall the ecoder cables separately rom the power cables, matag a dstace o at least 200 mm. Ecoder wth cable glad: Observe the permtted dameter o the ecoder cable to esure that the cable glad uctos correctly. 7.1 Ecoder le sheld o verter Coect the sheld o the ecoder cable to the verter over a large area. Fg. 34: Applyg the sheld to the electrocs sheld clamp sheld clamp 1866148491 Drve Egeerg ractcal Implemetato Ecoder Systems 59
7 What Geeral Istallato Notes Must Be Observed? Ecoder le sheld o ecoder Fg. 35: Sheld the sub D coector 1866145803 7.2 Ecoder le sheld o ecoder Coect the sheld o the ecoder cable to the ecoder over a large area. Fg. 36: Coect the sheld the cable glad o the ecoder 1866163979 60 Drve Egeerg ractcal Implemetato Ecoder Systems
Terms Ad Detos 8 8 Terms Ad Detos Term/abbrevato A/D coverter DR terace DS EEROM EMC HIERFACE HTL Mult-tur ecoder NVSRAM Reluctace Sgle-tur ecoder SRAM SSI TTL Deto/explaato Aalog/Dgtal coverter Dual ort RAM terace Dgtal Sgal rocessor Electrcally Eraseable rogrammable Read Oly Memory Electro Magetc Compatblty Hgh erormace Iterace. Regstered trademark o the compay Sck Stegma GmbH. Hgh-voltage Trasstor-Logcs Absolute posto speccato over multple revolutos No-Volatle Statc Radom Access Memory Magetc resstace Absolute posto speccato over oe revoluto Statc Radom Access Memory RAM Seral Sychroous Iterace Trasstor-Trasstor-Logcs Drve Egeerg ractcal Implemetato Ecoder Systems 61
Idex Idex A Absolute ecoder...11 Absolute ecoder wth ASI Fuctoal prcple...12 Structure...11 Absolute ecoder wth SSI Mult-tur ecoder...15 Sgle-tur ecoder...14 Asychroous AC motors...26 Asychroous servomotors...26 B Beets o the most mportat ecoder systems...6 D Drawbacks o the most mportat ecoder systems 6 I Icremetal rotary ecoders wth s/cos tracks...10 Fuctoal prcple...10 Sgal level...11 Structure...10 Istallato otes...58 L Lear ecoder systems...19 Barcode ecoder...20 Laser ecoder...19 Rulers...21 Wre-actuated ecoder...25 Lear posto detecto...27 Lear servo systems...27 M Magetc system...7 Mechacal coecto...49 Coe shat ecoder...54 Hollow shat ecoder...53 No-SEW ecoder moutg devce...52 lug- shat wth ed thread...50 Spreadshat ecoder...49 O Optcal system...7 Fuctoal prcple...8 Sgal level...8 Structure...8 Overvew o ecoder systems...5 roducts wth ther ecoder systems...30 roject plag...34 R Resolver...16 Fuctoal prcple...17 Structure...16 Rotary ecoder systems...7 Rulers...21 Fuctoal prcple o ductve travel dstace measurg systems...24 Fuctoal prcple o optcal travel dstace measurg systems...22 Structure o ductve travel dstace measurg systems...24 Structure o optcal travel dstace measurg systems...22 S Settg speccatos...56 Sychroous servomotors...26 T Tasks...5 Techcal data...36 ASI Absolute ecoders...42 Bult- ecoder...47 Icremetal ecoders wth plug- shat...36 Icremetal ecoders wth sold shat...38 Icremetal rotary ecoders wth spread shat.. 36 Moutg devce...48 roxmty sesor...47 Resolver...41 SSI absolute ecoder...39 Type desgato...29 Types o ecoder systems...5 61 Drve Egeerg ractcal Implemetato Ecoder Systems
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