Motor Feedback Systems with HIPERFACE
P R O D U C T C ATA L O G U E 2 0 0 9 / 2 0 1 0
Encoders
Rotary Encoders Incremental/Absolute
Linear Encoders
Motor Feedback Systems
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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Motor Feedback Systems with HIPERFACE ®
SinCos® SKS36, SKM36,
SKS36 Standalone, SKM36 Standalone:
Motor Feedback Systems with HIPERFACE®Interface for Servo Motors
In doing so, the system compensates for eccentricity errors of code
disc, ball bearing and shaft which
are inevitably found in conventional
systems.
By arranging the code disc in the
middle of the rotational axis, high angular velocities are no longer limited
by the code disc. The encoder size
is essentially determined by the mechanical and electrical interfaces.
Technologies such as “Chip On
Board” are used to achieve this. The
number of components is reduced
to a minimum.
128 sine/
cosine periods
Motor Feedback Systems
The SKS/SKM36 encoder is the
The small size of the SinCos SKS/
first member of a new generation
SKM36 enables manufacturers of
of optical encoders within the
miniature and subminiature motors
SinCos product range.
to significantly shorten their motors.
They all share the new Mini-Disc
(MiDi) technology.
The standalone version is also
The special feature of this genera- ideally suited as master resp. slave
tion: a very small code disc of only encoder.
2 mm code track radius employs
holistic (full) scanning.
2009-06
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315
Motor Feedback Systems with HIPERFACE ® SKS36/SKM36, Tapered Shaft
128 sine/
cosine periods
Dimensional drawing SKS/SKM36
Motor Feedback Systems
ɺ 128 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 4,096 steps
per revolution
4,096 revolutions can be
measured (Multiturn)
Programming of the
positional value
Electronic type lable
A
Proposed customer fitting
General tolerances to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
Explanation
1
Us
red
Supply voltage 7 … 12 V
Process data channel
2
+ SIN
white
3
REFSIN
brown
Process data channel
4
+ COS
pink
Process data channel
5
REFCOS
black
Process data channel
6
GND
blue
Ground connection
7
Data +
grey or yellow
RS-485-parameter channel
8
Data –
green or purple
RS-485-parameter channel
The housing is electrically connected to the motor housing, via the stator coupling.
The GND (0 V) connection of the supply voltage has no connection to the housing.
Accessories
Connection systems (page 322)
Mounting systems (page 325)
View of the plug-in face
Programming tool (page 322)
316
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2009-06
SKS36/SKM36
Technical data to DIN 32878
Tapered shaft SKS/SKM36
Number of sine/cosine periods per revolution
SKS
SKM
128
Number of the absolute ascertainable
revolutions
Single SKS
Multi SKM
Dimensions
Mass
1
4,096
mm (see dimensional drawing)
0.07 kg
Inertial rotor moment
4.5 gcm2
Code type for the absolute value
Binary
Code sequence for clockwise shaft rotation, looking in
direction “A” (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine
signals with e. g. 12 bits
2.5 angular seconds
Error limits for the digital absolute value
via RS 485
± 320 angular seconds
Error limits for evaluating the “128” signals,
integral non-linearity
Non-linearity within a sine/cosine period
differential non-linearity
Output frequency for sine/cosine signals
Operating speed
SKS
SKM
Max. angular acceleration
Operating torque
Starting torque
Permissible shaft movement
static
dynamic
Life of ball bearings
± 80 angular seconds
± 40 angular seconds
0 … 65 kHz
12,000 min-1
9,000 min-1
5 x 105 rad/s2
0.2 Ncm
0.3 Ncm
radial/axial
radial/axial
± 0.1 mm/± 0.2 mm
± 0.05 mm/± 0.1 mm
3.6 x 109 revolutions
Working temperature range
Storage temperature range 1)
–40 … +125 °C
–20 … +110 °C
Permissible relative humidity 2)
90 %
Resistance
to shocks 3)
to vibration 4)
100/6 g/ms
Protection to IEC 60529 5)
IP 50
50/10 … 2000 g/Hz
EMC 6)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area within EEPROM 7)
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS
Parameter channel = RS 485
7 … 12 V
8V
60 mA
1,792 bytes
Analogue, differential
Digital
1)
Without packaging
2)
Condensation not permissible
3)
To DIN EN 60068-2-27
4)
To DIN EN 60068-2-6
5)
With mating connector inserted and closed cover
6)
To DIN EN 61000-6-2 and DIN EN 61000-6-3
The EMC according to the standards quoted is achieved when
the motor feedback system is mounted in an electrically conductive housing, which is connected to the central earthing
point of the motor controller via a cable screen. This is also
where the GND (0 V) connection of the supply voltage is linked
to earth.
Users must perform their own tests when other screen designs
are used.
7)
If applying the elctronic type label, in connection with numeric
controllers, attention should be paid to Patent EP 425 912 B 2;
Application of the electronic type label in connection with
speed regulation is exempt.
2009-06
Ordering information
SKS/SKM36 Tapered shaft
Type
Part no.
Description
SKS36-HFAO-K02
1034095
Singleturn
SKM36-HFAO-K02
1034094
Multiturn
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Motor Feedback Systems with HIPERFACE ® SKS36/SKM36, Solid Shaft, Servo/Face Mount Flange
128 sine/
cosine periods
Motor Feedback Systems
Dimensional drawing SKS/SKM36 Standalone, Servo/Face Mount flange
A
ɺ 128 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 4,096 steps
per revolution
4,096 revolutions can be
measured (multiturn)
Programming of the
positional value
Electronic type lable
General tolerances to DIN ISO 2768-mk
PIN and wire allocation
View of the plug-in face
PIN
1
2
3
4
5
6
7
8
Colour of wires
brown
white
black
pink
grey or yellow
green or purple
blue
red
Screen
Signal
REFSIN
+ SIN
REFCOS
+ COS
Daten +
Daten –
GND
+ Us
Explanation
Process data channel
Process data channel
Process data channel
Process data channel
RS-485 Parameter channel
RS-485 Parameter channel
Ground connection
Encoder Supply voltage
Housing potential
Connection type
Connector radial
Cable radial
Accessories
Connection systems (page 322)
Mounting systems (page 325)
Programming tool (page 322)
318
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2009-06
SKS36/SKM36
Technical data to DIN 32878
Solid shaft 6 mm SKS/SKM36
Number of sine/cosine periods per revolution
SKS
SKM
128
Number of the absolute ascertainable
revolutions
Single SKS
Multi SKM
Dimensions
1
4,096
mm (see dimensional drawing)
Mass
0.14 kg
Inertial rotor moment
6 g/cm2
Code type for the absolute value
Binary
Code sequence for clockwise shaft rotation, looking in
direction “A” (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine
signals with e. g. 12 bits
2.5 angular seconds
Error limits for the digital absolute value
via RS 485
± 320 angular seconds
Error limits for evaluating the “128” signals,
Non-linearity
Output frequency for sine/cosine signals
Operating speed
± 120 angular seconds
0 … 65 kHz
6,000 min-1
Max. angular acceleration
5 x 105 rad/s2
Operating torque
Starting torque
Load capacity of shaft
radial/axial
Life of ball bearings
0.6 Ncm
0.9 Ncm
10 Nm/5 Nm
2 x 109 revolutions
Working temperature range
Storage temperature range 1)
Permissible relative humidity 2)
–20 … +100 °C
–40 … +125 °C
90 %
Resistance
to shocks 3)
100 g / 6 ms
to vibration 4)
50 g / 10 … 2000 Hz
Protection to IEC 60529 5)
IP 65
EMC 6)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area within EEPROM 7)
Interface signals
7 … 12 V
8V
60 mA
1,792 bytes
Process data channel = SIN, REFSIN, COS, REFCOS
Parameter channel = RS 485
Analogue, differential
Digital
1)
Without packaging
2)
Condensation not permissible
3)
To DIN EN 60068-2-27
4)
To DIN EN 60068-2-6
5)
With mating connector inserted
6)
To DIN EN 61000-6-2 and DIN EN 61000-6-3
7)
If applying the elctronic type label, in connection with numeric
controllers, attention should be paid to Patent EP 425 912 B 2;
Application of the electronic type label in connection with
speed regulation is exempt.
Ordering information
SKS/SKM36, Standalone; Solid shaft 6 mm; Servo/Face Mount Flange
2009-06
Type
Part no.
Description
SKS36-HVA0-K02
1035603
Singleturn; EEPROM 2048; Connector
SKS36-HVV0-K02
1035604
SKM36-HVA0-K02
1035601
Singleturn; EEPROM 2048; Cable 1.5 m
Multiturn; EEPROM 2048; Connector
SKM36-HVV0-K02
1035602
Multiturn; EEPROM 2048; Cable 1.5 m
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SKS36/SKM36
Electrical interface
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‡2QO\OHDGV
‡+LJKLQIRUPDWLRQFRQWHQW
‡%XVHQDEOHGSDUDPHWHUFKDQQHO
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‡3URFHVVGDWDFKDQQHOLQUHDOWLPH
Signal specification of the process data channel
Signal diagram for clockwise rotation of the
shaft, looking in
direction "A"
1 period = 360° : 128
Access to the process data used for speed control, i.e. to the sine and cosine signals, is practically always "online". When the supply voltage is
applied, the speed controller has access to this
information at any time.
Sophisticated technology guarantees stable
amplitudes of the analogue signals across all
specified environmental conditions, with a maximum variation of only 30 %.
Characteristics applicable to all permissible environmental conditions
Signal
Value/Units
Signal peak, peak Vss of SIN, COS
0.8 … 1.1 V
Signal offset REFSIN, REFCOS
2.2 … 2.8 V
Recommended receiver circuit for sine and cosine signals
The output circuit of the process data channel within the SinCos encoder
320
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2009-06
SKS36/SKM36
Type-specific settings
SKS
SKM
Type ID (command 52h)
32h
37h
Free EEPROM [bytes]
1,792
1,792
Address
40h
40h
Mode_485
E4h
E4h
Codes 0 … 3
55h
55h
Counter
0
0
Overview of commands supported
1)
The commands thus labelled include the parameter “Code 0”.
Code 0 is a byte inserted into the
protocol, for additional safeguarding of vital system parameters
against accidental overwriting.
When shipped, “Code 0” = 55h.
Code 0 1)
Command byte
Function
42h
Read position
43h
Set position
44h
Read analogue value
SKS
SKM
Comments
Comments
Channel number 48h
Channel number 48h
Temperature [°C]
Temperature [°C]
Encoder type = 32h
Encoder type = 37h
‡
46h
Read counter
47h
Increase counter
49h
Reset counter
4Ah
Read data
4Bh
Save data
4Ch
Determine status of a data field
4Dh
Create data field
4Eh
Determine available memory area
4Fh
Change access code
50h
Read encoder status
52h
Read out name plate
53h
Encoder reset
55h
Allocate encoder address
56h
Read serial number and program version
57h
Configure serial interface
‡
‡
‡
Overview of status messages
Error type
Initialisation
Protocol
Data
Position
Other
2009-06
Status code
Description
00h
The encoder has recognised no error
01h
Faulty compensating data
02h
Faulty internal angular offset
03h
Data field partitioning table damaged
04h
Analogue limit values not available
05h
Internal I2C bus not operational
06h
Internal checksum error
07h
Encoder reset occurred as a result of program monitoring
09h
Parity error
0Ah
Checksum of the data transmitted is incorrect
0Bh
Unknown command code
0Ch
Number of data transmitted is incorrect
0Dh
Command argument transmitted is not allowed
0Eh
The selected data field must not be written to
0Fh
Incorrect access code
10h
Size of data field stated cannot be changed
11h
Word address stated, is outside data field
12h
Access to non-existent data field
01h
Analogue signals outside specification
1Fh
Speed too high, no position formation possible
20h
Singleturn position unreliable
21h
Positional error Multiturn
22h
Positional error Multiturn
23h
Positional error Multiturn
1Ch
Monitoring the value of the analogue signals (process data)
1Dh
LED current critical (dirt, LED breakage)
1Eh
Encoder temperature critical
08h
Counter overflow
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SKS
SKM
‡
‡
‡
‡
‡
‡
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‡
‡
‡
‡
‡
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‡
‡
‡
‡
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‡
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
321
Accessories Connection Systems/Assembly Tool/Programming Tool
Dimensional drawings and ordering information
Stranded cable/connector, straight, 8 wires, 8 x 0.15 mm2
Type
DOL-0J08-GOM2XB6
Part no.
2031086
Contacts
8
Assembly tool
Type
BEF-MW-SKX36
Part no.
2031079
Description
Assembly tool SKX36
Wire length
0.2 m
Servo clamps, Set (comprises 3 pieces)
Type
Part no.
Description
BEF-WK-RESOL
2039082
Servo clamp
General tolerances according to DIN ISO 2768-mk
General tolerances according to DIN ISO 2768-mk
Couplings
3URJUDPPLQJWRROIRU+,3(5)$&(® devices
%HOORZVFRXSOLQJPD[VKDIWRIIVHWUDGLDO“PPD[LDOPP
Type
PGT-03-S
Part no.
1034252
Motor Feedback System
8
SKS/SKM36
DQJOH“GHJUHHVWRUVLRQVSULQJVWLIIQHVV1PUDG
bellows of stainless steel, hubs of aluminium
Type
Part no.
KUP-0606-B
5312981
Shaft diameter
6 mm …
KUP-0610-B
5312982
6 mm … 10 mm
6 mm
Cheese-head screw
M2.5x8 DIN912 A2
322
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SKS36/SKM36
Dimensional drawings and ordering information
Round screw system M12
Loose male connector M12, 8-pin, straight, screened,
Loose female connector M12, 8-pin, straight, screened,
for field assembly (adapter side)
for field assembly (encoder side)
Type
STE-1208-GA
Part no.
6028370
Contacts/cable diameter
8 / 4 … 8 mm
Type
DOS-1208-GA
Part no.
6028369
Contacts/cable diameter
8 / 4 … 8 mm
&DEOH+,3(5)$&(®ZLUHSHUPHWUH[[PP2
Type
LTG-2708-MW
Part no.
6028361
Wires
8
Female connector M12, 8-pin, straight, pre-wired with cable
ZLUH[[PP2, screened, flexible (adapter side)
Type
DOL-1208-G02MAC1
Part no.
6032866
Contacts
8
Cable length
2.0 m
DOL-1208-G05MAC1
6032867
8
5.0 m
DOL-1208-G10MAC1
6032868
8
10.0 m
DOL-1208-G20MAC1
6032869
8
20.0 m
2009-06
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323
Accessories Connection Systems/Mounting Systems
Dimensional drawings and ordering information
Mechanical Adapters
Adapter flange of aluminium for face mount flange, spigot 25 mm
Type
Part no.
Adaption
BEF-FA-025-050
2032622
To 50 mm servo flange
General tolerances according to DIN ISO 2768-mk
Adapter flange of aluminium for face mount flange, spigot 25 mm
Type
Part no.
Adaption
BEF-FA-025-036
2034226
To 36 mm face mount flange
General tolerances according to DIN ISO 2768-mk
Adapter flange of aluminium for face mount flange, spigot 25 mm
Type
Part no.
Adaption
BEF-FA-025-060RCA
2032623
To 60 mm square mounting plate
General tolerances according to DIN ISO 2768-mk
324
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SKS36/SKM36
Adapter flange of aluminium for face mount flange, spigot 25 mm
Type
Part no.
Adaption
BEF-FA-025-060RSA
2032624
To 60 mm square mounting plate with shock absorbers
General tolerances according to DIN ISO 2768-mk
Adapter flange of aluminium for face mount flange, spigot 25 mm
Type
Part no.
Adaption
BEF-FA-025-063REC
2033631
To 63 mm square mounting plate
General tolerances according to DIN ISO 2768-mk
Mounting angle incl. fixing set for encoder with face mount flange
Type
Part no.
Flange spigot
BEF-WF-25
2032621
Diameter 25 mm
2009-06
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325
326
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Motor Feedback Systems with HIPERFACE ®
SinCos® SRS50, SRM50, SRS50 Standalone,
SRM50 Standalone Generation 2:
Motor Feedback Systems with HIPERFACE®
interface for Servo Motors
Writing motor-specific data to the
electronic type label and programming are important features
of these series.
Features of Generation 2:
· Shorter body reduces the
encoder’s installation depth
· Higher precision due to widely
spaced bearings
· RoHS-compliant product range
· Reverse polarity protected
1,024 sine/
cosine periods
Motor Feedback Systems
SRS/SRM series of Motor Feedback Systems are used worldwide
in many different applications
and environments.
Absolute positioning with 32,768
steps per revolution and a maximum of 4,096 revolutions give a
total resolution of 134,217,728
steps.
RoHS
2002/95/EC
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Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Plug-in Shaft, Rubber Support
1,024 sine/
cosine periods
Dimensional drawing SRS/SRM50, rubber support Ø 50
Motor Feedback Systems
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
A
General tolerances according to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
Explanation
1
Us
red
Supply voltage 7 … 12 V
2
GND
blue
Ground connection
3
REFSIN
brown
Process data channel
4
REFCOS
black
Process data channel
5
Data +
grey or yellow
RS-485-parameter channel
6
Data –
green or purple
RS-485-parameter channel
7
+ SIN
white
Process data channel
8
+ COS
pink
Process data channel
Caution: To ensure proper function, the screen connection strand (200 mm) MUST be connected.
It is included in the supply.
RoHS
2002/95/EC
Accessories
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
328
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SRS50/SRM50
Technical data to DIN 32878
Plug-in shaft SRS/SRM50
Number of sine/cosine periods per revolution
SRS
SRM
1,024
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.20 kg
Moment of inertia to the rotor
10 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds 1)
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
12,000 min-1
Max. angular acceleration
0.2 x 106 rad/s2
Operating torque
0.2 Ncm
Starting torque
0.4 Ncm
Permissible shaft movement
static
radial/axial
± 0.5 mm/± 0.75 mm
dynamic
radial/axial
± 0.1 mm/± 0.2 mm
Angular motion, perpendicular to the rotational axis
static
± 0.005 mm/mm
dynamic
± 0.0025 mm/mm
Life of ball bearings
3.6 x 109 revolutions
Working temperature range
–20 … +115 °C
Storage temperature range (without packaging) –40 … +125 °C
Permissible relative humidity 2)
90 %
Resistance
To shocks 3)
100 g/10 ms
To vibration 4)
Protection class to IEC 60529 5)
EMC 6)
20 g/10 … 2000 Hz
IP 40
Operating voltage range
7 … 12 V
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 7)
8V
80 mA
128 bytes
Within EEPROM 2048 7)
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Without mechanical tension of the stator coupling
2)
Condensation not permitted
Ordering information
3)
To EN 60068-2-27
SRS/SRM50; plug-in shaft Ø 7mm; rubber support
4)
To EN 60068-2-6
Type
Part no.
5)
With mating connector inserted
SRS50-HAA0-K21
1037059
Description
Single, 512 EEprom, connector
6)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
SRS50-HAV0-K21
1037061
Single, 512 EEprom, stranded cable
SRS50-HAA0-K22
1037060
Single, 2048 EEprom, connector
SRS50-HAV0-K22
1037062
Single, 2048 EEprom, stranded cable
SRM50-HAA0-K21
1037063
Multi, 512 EEprom, connector
SRM50-HAV0-K21
1037065
Multi, 512 EEprom, stranded cable
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
SRM50-HAA0-K22
1037064
Multi, 2048 EEprom, connector
SRM50-HAV0-K22
1037066
Multi, 2048 EEprom, stranded cable
7)
2009-06
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
329
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Tapered Shaft, Spring Mounting Plate
1,024 sine/
cosine periods
Dimensional drawing SRS/SRM50, spring mounting plate Ø 66
Motor Feedback Systems
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
A
General tolerances according to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
Explanation
1
Us
red
Supply voltage 7 … 12 V
2
GND
blue
Ground connection
3
REFSIN
brown
Process data channel
4
REFCOS
black
Process data channel
5
Data +
grey or yellow
RS-485-parameter channel
6
Data –
green or purple
RS-485-parameter channel
7
+ SIN
white
Process data channel
8
+ COS
pink
Process data channel
Screening:
The encoder housing for the integrated encoder is connected to the motor, via the torque support. The connection space is thus screened via the motor housing such
that, within the connection space, unscreened connection
strands can be used.
RoHS
2002/95/EC
Accessories
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
330
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This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
C ATA L O G U E 2 0 0 9 / 2 0 1 0
www.barr-thorp.com
2009-06
SRS50/SRM50
Technical data to DIN 32878
Tapered shaft SRS/SRM50
Number of sine/cosine periods per revolution
1,024
SRS
SRM
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.20 kg
Moment of inertia to the rotor
10 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds 1)
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
12,000 min-1
Max. angular acceleration
0.2 x 106 rad/s2
Operating torque
0.2 Ncm
Starting torque
0.4 Ncm
Permissible shaft movement
static
radial/axial
± 0.5 mm/± 0.75 mm
dynamic
radial/axial
± 0.1 mm/± 0.2 mm
Angular motion, perpendicular to the rotational axis
static
± 0.005 mm/mm
dynamic
± 0.0025 mm/mm
Life of ball bearings
3.6 x 109 revolutions
Working temperature range
–20 … +115 °C
Storage temperature range (without packaging) –40 … +125 °C
Permissible relative humidity 2)
90 %
Resistance
To shocks 3)
100 g/10 ms
To vibration 4)
Protection class to IEC 60529 5)
EMC 6)
20 g/10 … 2000 Hz
IP 40
Operating voltage range
7 … 12 V
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 7)
8V
80 mA
128 bytes
Within EEPROM 2048 7)
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Without mechanical tension of the stator coupling
2)
Condensation not permitted
Ordering information
3)
To EN 60068-2-27
SRS/SRM50; tapered shaft; spring mounting plate
4)
To EN 60068-2-6
Type
Part no.
5)
With mating connector inserted
SRS50-HFA0-K21
1037067
Description
Single, 512 EEprom, connector
6)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
SRS50-HFV0-K21
1037069
Single, 512 EEprom, stranded cable
SRS50-HFA0-K22
1037068
Single, 2048 EEprom, connector
SRS50-HFV0-K22
1037070
Single, 2048 EEprom, stranded cable
SRM50-HFA0-K21
1037071
Multi, 512 EEprom, connector
SRM50-HFV0-K21
1037073
Multi, 512 EEprom, stranded cable
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
SRM50-HFA0-K22
1037072
Multi, 2048 EEprom, connector
SRM50-HFV0-K22
1037074
Multi, 2048 EEprom, stranded cable
7)
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
331
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Tapered Shaft, Resolver Support
1,024 sine/
cosine periods
Dimensional drawing SRS/SRM50, resolver support Ø 52
Motor Feedback Systems
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
A
General tolerances according to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
Explanation
1
Us
red
Supply voltage 7 … 12 V
2
GND
blue
Ground connection
3
REFSIN
brown
Process data channel
4
REFCOS
black
Process data channel
5
Data +
grey or yellow
RS-485-parameter channel
6
Data –
green or purple
RS-485-parameter channel
7
+ SIN
white
Process data channel
8
+ COS
pink
Process data channel
Caution: To ensure proper function, the screen connection strand (200 mm) MUST be connected.
It is included in the supply.
RoHS
2002/95/EC
Accessories
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
332
SICK-STEGMANN
|
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
C ATA L O G U E 2 0 0 9 / 2 0 1 0
www.barr-thorp.com
2009-06
SRS50/SRM50
Technical data to DIN 32878
Tapered shaft SRS/SRM50
Number of sine/cosine periods per revolution
1,024
SRS
SRM
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.20 kg
Moment of inertia to the rotor
10 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds 1)
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
12,000 min-1
Max. angular acceleration
0.2 x 106 rad/s2
Operating torque
0.2 Ncm
Starting torque
0.4 Ncm
Permissible shaft movement
static
radial/axial
± 0.5 mm/± 0.75 mm
dynamic
radial/axial
± 0.1 mm/± 0.2 mm
Angular motion, perpendicular to the rotational axis
static
± 0.005 mm/mm
dynamic
± 0.0025 mm/mm
Life of ball bearings
3.6 x 109 revolutions
Working temperature range
–20 … +115 °C
Storage temperature range (without packaging) –40 … +125 °C
Permissible relative humidity 2)
90 %
Resistance
To shocks 3)
100 g/10 ms
To vibration 4)
Protection class to IEC 60529 5)
EMC 6)
20 g/10 … 2000 Hz
IP 40
Operating voltage range
7 … 12 V
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 7)
8V
80 mA
128 bytes
Within EEPROM 2048 7)
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Without mechanical tension of the stator coupling
2)
Condensation not permitted
Ordering information
3)
To EN 60068-2-27
SRS/SRM50; tapered shaft; resolver support
4)
To EN 60068-2-6
Type
Part no.
5)
With mating connector inserted
SRS50-HGA0-K21
1037075
Description
Single, 512 EEprom, connector
6)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
SRS50-HGV0-K21
1037077
Single, 512 EEprom, stranded cable
SRS50-HGA0-K22
1037076
Single, 2048 EEprom, connector
SRS50-HGV0-K22
1037078
Single, 2048 EEprom, stranded cable
SRM50-HGA0-K21
1037079
Multi, 512 EEprom, connector
SRM50-HGV0-K21
1037081
Multi, 512 EEprom, stranded cable
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
SRM50-HGA0-K22
1037080
Multi, 2048 EEprom, connector
SRM50-HGV0-K22
1037082
Multi, 2048 EEprom, stranded cable
7)
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
333
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Tapered Shaft, Rubber Support
1,024 sine/
cosine periods
Dimensional drawing SRS/SRM50, rubber support Ø 50
Motor Feedback Systems
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
A
General tolerances according to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
Explanation
1
Us
red
Supply voltage 7 … 12 V
2
GND
blue
Ground connection
3
REFSIN
brown
Process data channel
4
REFCOS
black
Process data channel
5
Data +
grey or yellow
RS-485-parameter channel
6
Data –
green or purple
RS-485-parameter channel
7
+ SIN
white
Process data channel
8
+ COS
pink
Process data channel
Caution: To ensure proper function, the screen connection strand (200 mm) MUST be connected.
It is included in the supply.
RoHS
2002/95/EC
Accessories
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
334
SICK-STEGMANN
|
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
C ATA L O G U E 2 0 0 9 / 2 0 1 0
www.barr-thorp.com
2009-06
SRS50/SRM50
Technical data to DIN 32878
Tapered shaft SRS/SRM50
Number of sine/cosine periods per revolution
1,024
SRS
SRM
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.20 kg
Moment of inertia to the rotor
10 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds 1)
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
12,000 min-1
Max. angular acceleration
0.2 x 106 rad/s2
Operating torque
0.2 Ncm
Starting torque
0.4 Ncm
Permissible shaft movement
static
radial/axial
± 0.5 mm/± 0.75 mm
dynamic
radial/axial
± 0.1 mm/± 0.2 mm
Angular motion, perpendicular to the rotational axis
static
± 0.005 mm/mm
dynamic
± 0.0025 mm/mm
Life of ball bearings
3.6 x 109 revolutions
Working temperature range
–20 … +115 °C
Storage temperature range (without packaging) –40 … +125 °C
Permissible relative humidity 2)
90 %
Resistance
To shocks 3)
100 g/10 ms
To vibration 4)
Protection class to IEC 60529 5)
EMC 6)
20 g/10 … 2000 Hz
IP 40
Operating voltage range
7 … 12 V
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 7)
8V
80 mA
128 bytes
Within EEPROM 2048 7)
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Without mechanical tension of the stator coupling
2)
Condensation not permitted
Ordering information
3)
To EN 60068-2-27
SRS/SRM50; tapered shaft; rubber support Ø 50 mm
4)
To EN 60068-2-6
Type
Part no.
5)
With mating connector inserted
SRS50-HEA0-K21
1037083
Description
Single, 512 EEprom, connector
6)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
SRS50-HEV0-K21
1037085
Single, 512 EEprom, stranded cable
SRS50-HEA0-K22
1037084
Single, 2048 EEprom, connector
SRS50-HEV0-K22
1037086
Single, 2048 EEprom, stranded cable
SRM50-HEA0-K21
1037087
Multi, 512 EEprom, connector
SRM50-HEV0-K21
1037089
Multi, 512 EEprom, stranded cable
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
SRM50-HEA0-K22
1037088
Multi, 2048 EEprom, connector
SRM50-HEV0-K22
1037090
Multi, 2048 EEprom, stranded cable
7)
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
335
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Standalone, Face Mount Flange
1,024 sine/
cosine periods
Dimensional drawing SRS50/SRM50 Standalone, rectangular housing, face mount flange
A
Motor Feedback Systems
1
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
1
R = min. bending radius 40 mm
General tolerances according to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
1
REFCOS
black
Explanation
Process data channel
2
Data +
grey or yellow
RS-485-parameter channel
3
N. C.
–
N. C.
4
N. C.
–
N. C.
Process data channel
5
SIN
white
6
REFSIN
brown
Process data channel
7
Data –
green or purple
RS-485-parameter channel
8
COS
pink
Process data channel
9
N. C.
–
N. C.
10
GND
blue
Ground connection
11
N. C.
–
N. C.
12
Us
red
7 … 12 V Supply voltage
View of the plug-in face
Screen connection on connector
housing
N. C. = Not connected
RoHS
2002/95/EC
Type of connection
M23 Connector radial
Cable radial
Accessories
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
336
SICK-STEGMANN
|
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
C ATA L O G U E 2 0 0 9 / 2 0 1 0
www.barr-thorp.com
2009-06
SRS50/SRM50 Standalone
Technical data to DIN 32878
Standalone, face mount flange SRS/SRM50
Number of sine/cosine periods per revolution
SRS
SRM
1,024
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.55 kg
Moment of inertia to the rotor
25 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
Max. angular acceleration
6,000 min-1
0.2 x 106 rad/s2
Operating torque with shaft sealing ring
Starting torque with shaft sealing ring
Load capacity of shaft
radial/axial
Life of ball bearings
1 Ncm
1.5 Ncm
40 N/20 N
3.6 x 109 revolutions
Working temperature range
Storage temperature range
Permissible relative humidity 1)
–20 … +85 °C
–30 … +90 °C
90 %
Resistance
To shocks 2)
To vibration 3)
20 g/10 … 2000 Hz
Protection class to IEC 60529 4)
IP 65
30 g/11 ms
EMC 5)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 6)
Within EEPROM 2048 6)
7 … 12 V
8V
80 mA
128 bytes
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Condensation not permitted
2)
To EN 60068-2-27
3)
To EN 60068-2-6
4)
With mating connector inserted
5)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
6)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
Ordering information
SRS/SRM50 Standalone; solid shaft Ø 10 mm; face mount flange
Type
Part no.
SRS50-HWA0-K21
1037091
Decription
Single, 512 EEprom, connector
SRS50-HWV0-K21
1037093
Single, 512 EEprom, stranded cable
SRS50-HWA0-K22
1037092
Single, 2048 EEprom, connector
SRS50-HWV0-K22
1037094
Single, 2048 EEprom, stranded cable
SRM50-HWA0-K21
1037095
Multi, 512 EEprom, connector
SRM50-HWV0-K21
1037097
Multi, 512 EEprom, stranded cable
SRM50-HWA0-K22
1037096
Multi, 2048 EEprom, connector
SRM50-HWV0-K22
1037098
Multi, 2048 EEprom, stranded cable
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
337
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Standalone, Servo Flange
1,024 sine/
cosine periods
Dimensional drawing SRS50/SRM50 Standalone, rectangular housing, servo flange
A
Motor Feedback Systems
1
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
1
R = min. bending radius 40 mm
General tolerances according to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
1
REFCOS
black
Explanation
Process data channel
2
Data +
grey or yellow
RS-485-parameter channel
3
N. C.
–
N. C.
4
N. C.
–
N. C.
Process data channel
5
SIN
white
6
REFSIN
brown
Process data channel
7
Data –
green or purple
RS-485-parameter channel
8
COS
pink
Process data channel
9
N. C.
–
N. C.
10
GND
blue
Ground connection
11
N. C.
–
N. C.
12
Us
red
7 … 12 V Supply voltage
View of the plug-in face
Screen connection on connector
housing
N. C. = Not connected
RoHS
2002/95/EC
Type of connection
M23 Connector radial
Cable radial
Accessories
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
338
SICK-STEGMANN
|
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
C ATA L O G U E 2 0 0 9 / 2 0 1 0
www.barr-thorp.com
2009-06
SRS50/SRM50 Standalone
Technical data to DIN 32878
Standalone, servo flange SRS/SRM50
Number of sine/cosine periods per revolution
SRS
SRM
1,024
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.55 kg
Moment of inertia to the rotor
25 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
Max. angular acceleration
6,000 min-1
0.2 x 106 rad/s2
Operating torque with shaft sealing ring
Starting torque with shaft sealing ring
Load capacity of shaft
radial/axial
Life of ball bearings
1 Ncm
1.5 Ncm
40 N/20 N
3.6 x 109 revolutions
Working temperature range
Storage temperature range
Permissible relative humidity 1)
–20 … +85 °C
–30 … +90 °C
90 %
Resistance
To shocks 2)
To vibration 3)
20 g/10 … 2000 Hz
Protection class to IEC 60529 4)
IP 65
30 g/11 ms
EMC 5)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 6)
Within EEPROM 2048 6)
7 … 12 V
8V
80 mA
128 bytes
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Condensation not permitted
2)
To EN 60068-2-27
3)
To EN 60068-2-6
4)
With mating connector inserted
5)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
6)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
Ordering information
SRS/SRM50 Standalone; solid shaft Ø 6 mm; servo flange
Type
Part no.
SRS50-HXA0-K21
1037099
Description
Single, 512 EEprom, connector
SRS50-HXV0-K21
1037101
Single, 512 EEprom, stranded cable
SRS50-HXA0-K22
1037100
Single, 2048 EEprom, connector
SRS50-HXV0-K22
1037102
Single, 2048 EEprom, stranded cable
SRM50-HXA0-K21
1037103
Multi, 512 EEprom, connector
SRM50-HXV0-K21
1037105
Multi, 512 EEprom, stranded cable
SRM50-HXA0-K22
1037104
Multi, 2048 EEprom, connector
SRM50-HXV0-K22
1037106
Multi, 2048 EEprom, stranded cable
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
339
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Standalone, Square Mount Flange
Dimensional drawing SRS50/SRM50 Standalone, square mount flange
1,024 sine/
cosine periods
Motor Feedback Systems
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
All dimensions in inch, dimensions within brackets in mm.
Dimensional drawing shaft options
All dimensions in inch, dimensions within brackets in mm.
PIN and wire allocation
RoHS
2002/95/EC
Accessories
PIN
Signal
Wire colour
Explanation
A
+ Us
red
7 … 12 V Supply voltage
B
GND
blue
Ground connection
C
Ref SIN
brown
Process data channel
D
Ref COS
black
Process data channel
E
Data +
grey
RS-485-parameter channel
F
Data –
green
RS-485-parameter channel
G
SIN
white
Process data channel
H
COS
pink
Process data channel
I
N. C.
J
Housing
Housing
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
View of the plug-in face
Screen connection on connector
housing
N. C. = Not connected
340
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
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2009-06
SRS50/SRM50 Standalone
Technical data to DIN 32878
Standalone, square mount flange SRS/SRM50
Number of sine/cosine periods per revolution
SRS
SRM
1,024
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.48 kg
Moment of inertia to the rotor
28.8 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed without shaft sealing ring 6,000 min-1
Max. operating speed with shaft sealing ring
3,000 min-1
Max. angular acceleration
5 x 105 rad/s2
Operating torque with shaft sealing ring
Starting torque with shaft sealing ring
Load capacity of shaft
radial/axial
Life of ball bearings
1 Ncm
1.5 Ncm
155 N/88 N
3.6 x 109 revolutions
Working temperature range
Storage temperature range
Permissible relative humidity 1)
0 … +75 °C
–40 … +85 °C
90 %
Resistance
To shocks 2)
To vibration 3)
20 g/10 … 2000 Hz
Protection class to IEC 60529 4)
IP 66
100 g/10 ms
EMC 5)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 6)
Interface signals
7 … 12 V
8V
80 mA
128 bytes
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Condensation not permitted
2)
To EN 60068-2-27
3)
To EN 60068-2-6
4)
With mating connector inserted
5)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
6)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
Ordering information
SRS/SRM50 Standalone; solid shaft Ø 3/8”; square mount flange 2,5”
Type
Part no.
SRS50-HTA0-K21
7127309
SRS50-HUA0-K21
7127310
Single, solid shaft with flat, connector MS/10
SRM50-HTA0-K21
7127313
Multi, solid shaft, connector MS/10
SRM50-HUA0-K21
7127311
Multi, solid shaft with flat, connector MS/10
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
Description
Single, solid shaft, connector MS/10
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341
Motor Feedback Systems with HIPERFACE ® SRS50/SRM50, Standalone, Blind Hollow Shaft
Dimensional drawing SRS50/SRM50 Standalone, blind hollow shaft
1,024 sine/
cosine periods
Motor Feedback Systems
ɺ 1,024 sine/cosine periods
ɺ
ɺ
ɺ
ɺ
per revolution
Absolute position with a
resolution of 32,768 steps
per revolution
4,096 revolutions
measurable (Multiturn)
Programming of the
positional value
Electronic type label
* Maximum bore size. Smaller bores
are realized through interchangable
collets.
All dimensions in inch, dimensions within brackets in mm.
PIN and wire allocation
RoHS
2002/95/EC
Accessories
PIN
Signal
Wire colour
Explanation
A
+ Us
red
7 … 12 V Supply voltage
B
GND
blue
Ground connection
C
Ref SIN
brown
Process data channel
D
Ref COS
black
Process data channel
E
Data +
grey
RS-485-parameter channel
F
Data –
green
RS-485-parameter channel
G
SIN
white
Process data channel
H
COS
pink
Process data channel
I
N. C.
J
Housing
Housing
Connection systems (page 346)
Mounting systems (page 346)
Programming tool (page 346)
View of the plug-in face
Screen connection on connector
housing
N. C. = Not connected
342
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This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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www.barr-thorp.com
2009-06
SRS50/SRM50 Standalone
Technical data to DIN 32878
Standalone, blind hollow shaft SRS/SRM50
Number of sine/cosine periods per revolution
SRS
SRM
1,024
Number of the absolute ascertainable
revolutions
Single SRS
Multi SRM
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.48 kg
Moment of inertia to the rotor
50 gcm2 max.
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
0.3 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 45 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
3.000 min-1
Max. operating speed
3.000 min-1
Max. angular acceleration
5 x 105 rad/s2
Max. operating torque
Starting torque with shaft sealing ring
Allowable runout
static/dynamic radial
static/dynamic axial
Working temperature range
Storage temperature range
Permissible relative humidity 1)
1.8 Ncm
2.6 Ncm
± 3/± 1 mm
± 5/± 2 mm
0 … +75 °C
–40 … +85 °C
90 %
Resistance
To shocks 2)
100 g/10 ms
To vibration 3)
20 g/10 … 2000 Hz
Protection class to IEC 60529 4)
IP 66
EMC 5)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
Within EEPROM 512 6)
7 … 12 V
8V
80 mA
128 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
Ordering information
SRS/SRM50 Standalone; blind hollow saft Ø 15 mm
Type
SRS50-HPA0-K21
Part no.
7127312
Description
SRM50-HPA0-K21
7127314
Multi, Aufsteckhohlwelle, Stecker MS/10
Single, Aufsteckhohlwelle, Stecker MS/10
1)
Condensation not permitted
2)
To EN 60068-2-27
3)
To EN 60068-2-6
Collets
Type
Part no.
Size
4)
With mating connector inserted
SPZ-006-AD-A
2029174
6 mm
5)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen. This is also where
the GND (0 V) connection of the supply voltage is linked to earth.
Users must perform their own tests when other screen designs are used.
SPZ-1E4-AD-A
2029175
1/4”
SPZ-008-AD-A
2029176
8 mm
SPZ-3E8-AD-A
2029177
3/8”
SPZ-010-AD-A
2029178
10 mm
SPZ-012-AD-A
2029179
12 mm
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
SPZ-1E2-AD-A
2029180
1/2”
6)
2009-06
Attention: Please order the Collet with required diameter separately.
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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343
SRS50/SRM50
Electrical interface
‡6DIHGDWDWUDQVPLVVLRQ
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Signal specification of the process data channel
Signal diagram for
clockwise rotation
of the shaft, looking
in direction "A"
1 period = 360° : 1024
Access to the process data used for speed
control, i.e. to the sine and cosine signals, is
practically always "online". When the supply voltage is applied, the speed controller has access
to this information at any time.
Sophisticated technology guarantees stable
amplitudes of the analogue signals across all
VSHFLÀHGHQYLURQPHQWDOFRQGLWLRQVZLWKDPD[Lmum variation of only 20%.
Characteristics applicable to all permissible environmental conditions
Value/Units
Signal
Signal peak, peak Vss of SIN, COS
0.9 … 1.1 V
Signal offset REFSIN, REFCOS
2.2 … 2.8 V
Recommended receiver circuit for sine and cosine signals
The output circuit of the process data channel within the SinCos encoder
Further informations to the interface
see HIPERFACE®-description
part no. 8010701
344
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2009-06
SRS50/SRM50
Type-specific settings
SRS
SRM
Type ID (command 52h)
22h
27h
Free EEPROM [bytes]
128/1,792
128/1,792
Address
40h
40h
Mode_485
E4h
E4h
Codes 0 … 3
55h
55h
Counter
0
0
Overview of commands supported
1)
The commands thus labelled include
the parameter "Code 0".
Code 0 is a byte inserted into the
protocol, for additional safeguarding
of vital system parameters against
accidental overwriting.
When shipped, "Code 0" = 55h.
Code 0 1)
Command byte
Function
42h
Read position (5 bits per sine/cosine period)
43h
Set position
44h
Read analogue value
SRS
SRM
Comments
Comments
15 bits
27 bits
Channel number 48h
Channel number 48h
Temperature [°C]
Temperature [°C]
Encoder type = 22h
Encoder type = 27h
‡
46h
Read counter
47h
Increase counter
49h
Reset counter
4Ah
Read data
4Bh
Save data
4Ch
Determine status of a data field
4Dh
Create data field
4Eh
Determine available memory area
4Fh
Change access code
50h
Read encoder status
52h
Read out name plate
53h
Encoder reset
55h
Allocate encoder address
56h
Read serial number and program version
57h
Configure serial interface
‡
‡
‡
Overview of status messages
Error type
Initialisation
Protocol
Data
Position
Other
Further informations to the interface
see HIPERFACE®-description
part no. 8010701
2009-06
Statuscode
Description
00h
The encoder has recognised no error
01h
Faulty compensating data
02h
Faulty internal angular offset
03h
Data field partitioning table damaged
04h
Analogue limit values not available
05h
Internal I2C bus not operational
06h
Internal checksum error
07h
Encoder reset occurred as a result of program monitoring
09h
Parity error
0Ah
Checksum of the data transmitted is incorrect
0Bh
Unknown command code
0Ch
Number of data transmitted is incorrect
0Dh
Command argument transmitted is not allowed
0Eh
The selected data field must not be written to
0Fh
Incorrect access code
10h
Size of data field stated cannot be changed
11h
Word address stated, is outside data field
12h
Access to non-existent data field
01h
Analogue signals outside specification
1Fh
Speed too high, no position formation possible
20h
Singleturn position unreliable
21h
Positional error Multiturn
22h
Positional error Multiturn
23h
Positional error Multiturn
1Ch
Monitoring the value of the analogue signals (process data)
1Dh
Transmitter current critical (dirt, transmitter breakage)
1Eh
Encoder temperature critical
08h
Counter overflow
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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SRS
SRM
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
345
Accessories Connection Systems/Mounting Systems/Programming Tool
Dimensional drawings and ordering information
Accessories for SRS50/SRM50 Standalone
3URJUDPPLQJ7RROIRU+,3(5)$&(® devices
Type
Part no.
Motor Feedback System
PGT-03-S
1034252
SRS50/SRM50 Standalone
Servo clamp small, set (contents 3 off) for servo flanges
Type
Part no.
BEF-WK-SF
2029166
General tolerances according to DIN ISO 2768-mk
Stranded cable/connector, straight, 8 wires, 8 x 0.24 mm2
Type
Part no.
Contacts
Wire length
DOL-OB08-GOM2XB1
2031081
8
0.2 m
DOL-OB08-GOM4XB1
2031083
8
0.4 m
0.2 m or 0.4 m
+,3(5)$&(® cable, 8 wires, supplied by the metre 4 x 2 x 0.15 mm2, screened, flexible
Type
Part no.
Cores
LTG-2708-MW
6028361
8
Connector M23 female, 12-pin, straight, screened
Connector M23 male, 12-pin, straight, screened
Type
Part no.
Contacts
Type
Part no.
Contacts
DOS-2312-G
6027538
12
STE-2312-G
6027537
12
General tolerances according to DIN ISO 2768-mk
346
SICK-STEGMANN
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General tolerances according to DIN ISO 2768-mk
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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2009-06
SRS50/SRM50
Dimensional drawings and ordering information
&DEOHFRQQHFWRU0SLQVWUDLJKWFDEOHFRUH+,3(5)$&(®, screened
Type
Part no.
Contacts
Cable length
DOL-2308-G1M5JB2
2031069
12
1.5 m
DOL-2308-G03MJB2
2031070
12
3.0 m
DOL-2308-G05MJB2
2031071
12
5.0 m
DOL-2308-G10MJB2
2031072
12
10.0 m
DOL-2308-G15MJB2
2031073
12
15.0 m
Type
Part no.
PIN
DOS-MS10-G
7102129
10-pin
Mating Connectors fit in for MS/10
Cable and connector assembly MS/10, 10-pin, straight, cable 8-core
Type
Part no.
Cable length
DOL-MS10-G1M5MA3
7102160
1.5 m
DOL-MS10-G03MMA3
7102161
3.0 m
DOL-MS10-G05MMA3
7102162
5.0 m
DOL-MS10-G10MMA3
7102163
10.0 m
DOL-MS10-G20MMA3
7102164
20.0 m
DOL-MS10-G30MMA3
7102165
30.0 m
Accessories for SRS50/SRM50 Standalone
Interchangeable collets for blind hollow shaft
Type
Part no.
Size
SPZ-006-AD-A
2029174
6 mm
SPZ-1E4-AD-A
2029175
1/4”
SPZ-008-AD-A
2029176
8 mm
SPZ-3E8-AD-A
2029177
3/8”
SPZ-010-AD-A
2029178
10 mm
SPZ-012-AD-A
2029179
12 mm
SPZ-1E2-AD-A
2029180
1/2”
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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347
348
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
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2009-06
Motor Feedback Systems with HIPERFACE ®
SinCos® SRS64, SRM64:
Motor Feedback Systems with HIPERFACE®Interface for Self-Ventilated and ForceVentilated Drives
Writing motor-specific data to the
electronic type label and programming are important features of these
series.
Possible product variations:
Hollow shafts up to 14 mm in
diameter.
1,024 sine/
cosine periods
Motor Feedback Systems
The SRS/SRM series of Motor
Feedback Systems are used
world-wide in many different applications and environments.
Absolute positioning with 32,768
steps per revolution and a maximum of 4,096 revolutions give a
total resolution of 134,217,728
steps.
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
349
Motor Feedback Systems with HIPERFACE ® SRS64/SRM64, Hollow Shaft
1,024 sine/
cosine periods
Dimensional drawing SRS/SRM64
Motor Feedback Systems
ɺ 1,024 sine/cosine periods per
ɺ
ɺ
ɺ
ɺ
revolution
Absolute position with a resolution
of 32,768 steps per revolution
4,096 revolutions can be measured
(Multiturn)
Programming of the positional value
Electronic type label
A
Proposed customer fitting
General tolerances to DIN ISO 2768-mk
PIN and wire allocation
PIN
Signal
Colour of Wires
Explanation
1
REFCOS
black
Process data channel
2
Data +
grey or yellow
RS 485 parameter channel
3
N. C.
–
N. C.
4
N. C.
–
N. C.
5
SIN
white
Process data channel
6
REFSIN
brown
Process data channel
7
Data –
green or purple
RS 485 parameter channel
8
COS
pink
Process data channel
9
N. C.
–
N. C.
10
GND
blue
Ground connection
11
N. C.
–
N. C.
12
Us
red
Supply voltage 7 … 12 V
Accessories
Connection systems (page 354)
View of the plug-in face
Programming tool (page 355)
Clamping elements (page 354)
350
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
Screen connection on connector housing
N. C. = Not connected
www.barr-thorp.com
2009-06
SRS64/SRM64
Technical Data according to DIN 32878
Hollow Shaft SRS/SRM64
Number of sine/cosine periods per revolution
1,024
Dimensions
mm (see dimensional drawing)
Weight
0.3 kg
Inertial rotor moment
45 gcm2
Type of code for the absolute value
Binary
SRS
SRM
Code sequence for clockwise shaft rotation, looking in
direction “A” (see dimensional drawing)
Increasing
Measurement step after generating arctan
with 12 bit resolution
Total number of steps
Single SRS
Multi SRM
Error limits for the digital absolute value
0.3 angular seconds
32,768
134,21,728 = 4,096 x 32,768
via RS 485
± 90 angular seconds
Error limits for evaluating the “1,024” signals,
integral non-linearity
± 45 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals
0 … 200 kHz
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. operating speed
9,000 min-1
Max. angular acceleration
5 x 105 rad/s2
Operating torque
0.2 Ncm
Starting torque
0.4 Ncm
Permissible shaft movement
static
radial/axial
± 0.1 mm/± 2 mm
dynamic
radial/axial
± 0.05 mm/± 0,2 mm
Angular motion, perpendicular to the rotational axis
static
34 x 10-3 mm/mm
dynamic
17 x 10-3 mm/mm
Life of ball bearings
3.6 x 109 revolutions
Working temperature range
Storage temperature range (without packaging)
Permissible relative humidity 1)
Shock resistance 2)
–20 … +110 °C
–20 … +115 °C
90 %
100/10 g/ms
Oscillation resistance 3)
20/10 … 2000 g/Hz
Protection to IEC 60529 4)
IP 65
EMC 5)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
within EEPROM 512 6)
within EEPROM 2048 6)
7 … 12 V
8V
< 80 mA
128 bytes
1,792 bytes
Interface signals
Process data channel = SIN, REFSIN, COS, REFCOS
Parameter channel = RS 485
1)
Condensation not permissible
2)
To EN 60068-2-27
3)
To EN 60068-2-6
4)
In assembled state
5)
6)
Analogue, differential
Digital
SRS/SRM64; hollow shaft *
To EN 61000-6-2 and N 61000-6-3
The EMC according to the standards quoted is achieved when
the motor feedback system is mounted in an electrically conductive housing, which is connected to the central earthing
point of the motor controller via a cable screen. This is also
where the GND (0 V) connection of the supply voltage is linked
to earth. Users must perform their own tests when other
screen designs are used.
If applying the elctronic type label, in connection with numeric
controllers, attention should be paid to Patent EP 425 912 B 2;
Application of the electronic type label in connection with
speed regulation is exempt.
2009-06
Ordering information
Type
Part no.
Description
SRS64-HRK0-K01
1034225
Single, 512 EEprom, cable 1.5 m
SRS64-HRA0-K01
1034223
Single, 512 EEprom, connector
SRM64-HRK0-K01
1034164
Multi, 512 EEprom, cable 1.5 m
SRM64-HRA0-K01
1034162
Multi, 512 EEprom, connector
SRS64-HRK0-K02
1034226
Single, 2048 EEprom, cable 1.5 m
SRS64-HRA0-K02
1034224
Single, 2048 EEprom, connector
SRM64-HRK0-K02
1034165
Multi, 2048 EEprom, cable 1.5 m
SRM64-HRA0-K02
1034163
Multi, 2048 EEprom, connector
* Clamping elements for 10, 12, 14 mm and 3/8" and 1/2" as accessories separate order item (see page 354).
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
351
SRS64/SRM64
Electrical interface
‡6DIHGDWDWUDQVPLVVLRQ
‡2QO\OHDGV
‡+LJKLQIRUPDWLRQFRQWHQW
‡%XVHQDEOHGSDUDPHWHUFKDQQHO
‡(OHFWURQLFUDWLQJSODWH
‡3URFHVVGDWDFKDQQHOLQUHDOWLPH
Signal specification of the process data channel
Signal diagram for
clockwise rotation of
the shaft, looking in
direction “A”
1 period = 360° : 1,024
Access to the process data used for speed control, i.e. to the sine and cosine signals, is practically always “online”. When the supply voltage is
applied, the speed controller has access to this
information at any time.
Sophisticated technology guarantees stable amplitudes of the analogue signals across all specified environmental conditions, with a maximum
variation of only 20 %.
Characteristics applicable to all environmental conditions stated
Signal
Values/Units
Signal peak, peak Vss of SIN, COS
0.9 … 1.1 V
Signal offset REFSIN, REFCOS
2.2 … 2.8 V
Recommended receiver circuit for sine and cosine signals
The output circuit of the process data channel within the SinCos encoder
352
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2009-06
SRS64/SRM64
Type-specific settings
SRS
SRM
Type ID (command 52h)
22h
27h
Free EEPROM [bytes]
128/1,792
128/1,792
Address
40h
40h
Mode_485
E4h
E4h
Codes 0 … 3
55h
55h
Counter
0
0
Overview of commands supported
1)
Code 0 is a byte inserted into the
protocol, for additional safeguarding
of vital system parameters against
accidental overwriting.
When shipped, “Code 0” = 55h.
Code 0 1)
Command byte
Function
42h
Read position
43h
Set position
44h
Read analogue value
SRS
SRM
Comments
Comments
Channel number 48h
Channel number 48h
Temperature [°C]
Temperature [°C]
Encoder type = 22h
Encoder type = 27h
‡
46h
Read counter
47h
Increase counter
49h
Reset counter
4Ah
Read data
4Bh
Save data
4Ch
Determine status of a data field
4Dh
Create data field
4Eh
Determine available memory area
4Fh
Change access code
50h
Read encoder status
52h
Read out name plate
53h
Encoder reset
55h
Allocate encoder address
56h
Read serial number and program version
57h
Configure serial interface
‡
‡
‡
Overview of status messages
Error type
Initialisation
Protocol
Data
Position
Other
2009-06
Status code
Description
00h
The encoder has recognised no error
01h
Faulty compensating data
02h
Faulty internal angular offset
03h
Data field partitioning table damaged
04h
Analogue limit values not available
05h
Internal I2C bus not operational
06h
Internal checksum error
07h
Encoder reset occurred as a result of program monitoring
09h
Parity error
0Ah
Checksum of the data transmitted is incorrect
0Bh
Unknown command code
0Ch
Number of data transmitted is incorrect
0Dh
Command argument transmitted is not allowed
0Eh
The selected data field must not be written to
0Fh
Incorrect access code
10h
Size of data field stated cannot be changed
11h
Word address stated, is outside data field
12h
Access to non-existent data field
01h
Analogue signals outside specification
1Fh
Speed too high, no position formation possible
20h
Singleturn position unreliable
21h
Positional error Multiturn
22h
Positional error Multiturn
23h
Positional error Multiturn
1Ch
Monitoring the value of the analogue signals (process data)
1Dh
Transmitter current critical (dirt, transmitter breakage)
1Eh
Encoder temperature critical
08h
Counter overflow
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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SICK-STEGMANN
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SRS
SRM
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
‡
C ATA L O G U E 2 0 0 9 / 2 0 1 0
353
Accessories Connection Systems/Clamping Elements/Programming Tool
Dimensional drawings and ordering information
Clamping elements, set (contents 2 off)
Type
Part no.
Size
BEF-MW-SR64D14
2031074
14 mm
BEF-MW-SR64D12
2031075
12 mm
BEF-MW-SR64D10
2031076
10 mm
BEF-MW-SR64D1E2
2031077
1/2"
BEF-MW-SR64D3E8
2031078
3/8"
Connector M23 female, 12-pin, straight
Connector M23 male, 12-pin, straight, screened
Type
DOS-2312-G
Type
STE-2312-G
Part no.
6027538
Contacs
12
Part no.
6027537
Contacts
12
Approx. 55
General tolerances to DIN ISO 2768-mk
General tolerances to DIN ISO 2768-mk
&DEOHFRQQHFWRU0SLQVWUDLJKWFDEOHFRUH+,3(5)$&(®, screened
Type
DOL-2308-G1M5JB2
Part no.
2031069
Contacts
12
Wire length
1.5 m
DOL-2308-G03MJB2
2031070
12
3.0 m
DOL-2308-G05MJB2
2031071
12
5.0 m
DOL-2308-G10MJB2
2031072
12
10 m
DOL-2308-G15MJB2
2031073
12
15 m
+,3(5)$&(® cable 8 wires, supplied by the metre 4 x 2 x 0,15 mm2, screened, flexible
Type
LTG-2708-MW
354
Part no.
6028361
SICK-STEGMANN
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8
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
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2009-06
SRS64/SRM64
Dimensional drawings and ordering information
3URJUDPPLQJWRROIRU+,3(5)$&(®-devices
Type
PGT-03-S
2009-06
Part no.
1034252
Motor Feedback System
8
SRS/SRM64
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
355
356
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
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2009-06
Motor Feedback Systems with HIPERFACE ®
SinCos® SEK52/SEL52
and SEK37/SEL37:
Motor Feedback Systems with
HIPERFACE® interface
The holistic scanning almost completely compensates for eccentricity
errors. The capacitive operating
principle can function without ball
bearings and is therefore extremely
robust. By dispensing with wearing
parts, possible error sources are largely excluded, and the motor feedback systems have a high temperature resistance previously reserved
for resolvers. Moreover, the system
construction allows extremely low
power consumption.
The compact SEK/SEL37 products
are designed for mounting onto
16 sine/
cosine periods
Motor Feedback Systems
Extreme robustness, multiturn
conical shafts. In addition to the
capability and all benefits of the
shoulder clamping used with resolvers, SEK/SEL device types in the
®
HIPERFACE interface are
reflected in the new SinCos
2.1" housing also feature hollow
SEK/SEL52 and SEK/SEL37
shaft and conical shaft types. Thus,
product ranges.
these motor feedback systems
®
with high resolution are particularly
At the heart of these new ranges
suited to industrial applications re-
is a bearing-less, capacitive sen-
quiring a compact, precise and cost-
sor element.
effective solution.
RoHS
2002/95/EC
2009-06
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
357
Motor Feedback Systems with HIPERFACE ® SEK52/SEL52, Tapered Shaft
16 sine/
cosine periods
Dimensional drawing SEK/SEL52 tapered shaft
Motor Feedback Systems
ɺ 16 sine/cosine periods
per revolution
ɺ 4,096 revolutions
measurable (Multiturn)
ɺ Programming of the
positional value
ɺ Electronic type lable
Proposed
FXVWRPHUÀWWLQJ
Dimensions with
cover (see accessory
order no. 2048234)
General tolerances according to DIN ISO 2768-mk
Pin and wire allocation
RoHS
2002/95/EC
PIN
Signal
Colour of wires
Explanation
1
Us
red
Supply voltage7 … 12 V
Process data channel
2
+ SIN
white
3
REFSIN
brown
Process data channel
4
+ COS
pink
Process data channel
5
REFCOS
black
Process data channel
6
GND
blue
Ground connection
7
Data +
grey or yellow
RS485-parameter channel
8
Data –
green or purple
RS485-parameter channel
The GND-(0V) connection of the supply voltage has no connection to the housing.
Accessories
Connection systems (page 370)
Mounting systems (page 370)
Programming Tool (page 370)
Cover (page 371)
358
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2009-06
SEK52/SEL52
Technical data to DIN 32878
Tapered shaft SEK/SEL52
Number of sine/cosine periods per revolution
16
SEK
SEL
Number of the absolute ascertainable
revolutions
Single SEK
Multi SEL
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.04 kg
Mass with cover 1)
0.07 kg
Moment of inertia to the rotor
7 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
20 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 288 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 72 angular seconds 2)
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. Operating speed
Single SEK
12,000 min-1
Multi SEL
Permissible shaft movement
axial
radial
Working temperature range
10,000 min-1
5 x 105 rad/s2
Max. angular acceleration
Single SEK
Multi SEL
Storage temperature range 3)
Permissible relative humidity
± 0.5 mm
± 0.15 mm
–40 … +115 °C
–20 … +115 °C
–50 … +125 °C
90 % 4)
Resistance
To shocks 5)
100 g/10 ms
To vibration 6)
50 g/10 … 2000 Hz
Protection class to IEC 60529 7)
IP 40
EMC 8)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
within EEPROM 2048 9)
Interface signals
7 … 12 V
8V
< 50 mA
1,792 bytes
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Accessory part no. 2048234
Ordering information
2)
At nominal position ± 0.1 mm
SEK/SEL52 tapered shaft
3)
Without packaging
Type
Part no.
4)
Condensation not permitted
SEK52-HFA0-K02
1037368
Description
Singleturn
5)
To EN 60068-2-27
SEL52-HFA0-K02
1037371
Multiturn
6)
To EN 60068-2-6
7)
With mating connector inserted and closed cover
8)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen and by using the
cover (see accessory part no. 2048234).
Users must perform their own tests when other screen designs are used.
9)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
359
Motor Feedback Systems with HIPERFACE ® SEK52/SEL52, Hollow Shaft
16 sine/
cosine periods
Dimensional drawing SEK/SEL52 hollow shaft
Motor Feedback Systems
ɺ 16 sine/cosine periods
per revolution
ɺ 4,096 revolutions
measurable (Multiturn)
ɺ Programming of the
positional value
ɺ Electronic type lable
Proposed
FXVWRPHUÀWWLQJ
Dimensions with
cover (see accessory
order no. 2048232)
General tolerances according to DIN ISO 2768-mk
Pin and wire allocation
RoHS
2002/95/EC
PIN
Signal
Colour of wires
Explanation
1
Us
red
Supply voltage7 … 12 V
Process data channel
2
+ SIN
white
3
REFSIN
brown
Process data channel
4
+ COS
pink
Process data channel
5
REFCOS
black
Process data channel
6
GND
blue
Ground connection
7
Data +
grey or yellow
RS485-parameter channel
8
Data –
green or purple
RS485-parameter channel
The GND-(0V) connection of the supply voltage has no connection to the housing.
Accessories
Connection systems (page 370)
Mounting systems (page 370)
Programming Tool (page 370)
Cover (page 371)
360
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2009-06
SEK52/SEL52
Technical data to DIN 32878
Hollow shaft SEK/SEL52
Number of sine/cosine periods per revolution
SEK
SEL
16
Number of the absolute ascertainable
revolutions
Single SEK
Multi SEL
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.04 kg
Mass with cover 1)
0.06 kg
Moment of inertia to the rotor
7 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
20 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 288 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 72 angular seconds 2)
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. Operating speed
Single SEK
12,000 min-1
Multi SEL
Permissible shaft movement
axial
radial
Working temperature range
10,000 min-1
5 x 105 rad/s2
Max. angular acceleration
Single SEK
Multi SEL
± 0.5 mm
± 0.15 mm
–40 … +115 °C
–20 … +115 °C
Storage temperature range 3)
Permissible relative humidity
Resistance
To shocks 5)
–50 … +125 °C
90 % 4)
To vibration 6)
50 g/10 … 2000 Hz
Protection class to IEC 60529 7)
IP 40
100 g/10 ms
EMC 8)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
within EEPROM 2048 9)
Interface signals
7 … 12 V
8V
< 50 mA
1,792 bytes
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Accessory part no. 2048232
Ordering information
2)
At nominal position ± 0.1 mm
SEK/SEL52 hollow shaft
3)
Without packaging
Type
Part no.
4)
Condensation not permitted
SEK52-HNA0-K02
1037370
Description
Singleturn
5)
To EN 60068-2-27
SEL52-HNA0-K02
1037373
Multiturn
6)
To EN 60068-2-6
7)
With mating connector inserted and closed cover
8)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen and by using the
cover (see accessory part no. 2048232).
Users must perform their own tests when other screen designs are used.
9)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
361
Motor Feedback Systems with HIPERFACE ® SEK52/SEL52, with Shoulder Clamping
16 sine/
cosine periods
Dimensional drawing SEK/SEL52 with shoulder clamping
Motor Feedback Systems
ɺ 16 sine/cosine periods
per revolution
ɺ 4,096 revolutions
measurable (Multiturn)
ɺ Programming of the
positional value
ɺ Electronic type lable
Proposed
FXVWRPHUÀWWLQJ
Dimensions with
cover (see accessory
order no. 2048234)
General tolerances according to DIN ISO 2768-mk
Pin and wire allocation
RoHS
2002/95/EC
PIN
Signal
Colour of wires
Explanation
1
Us
red
Supply voltage7 … 12 V
Process data channel
2
+ SIN
white
3
REFSIN
brown
Process data channel
4
+ COS
pink
Process data channel
5
REFCOS
black
Process data channel
6
GND
blue
Ground connection
7
Data +
grey or yellow
RS485-parameter channel
8
Data –
green or purple
RS485-parameter channel
The GND-(0V) connection of the supply voltage has no connection to the housing.
Accessories
Connection systems (page 370)
Mounting systems (page 370)
Programming Tool (page 370)
Cover (page 371)
362
SICK-STEGMANN
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
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2009-06
SEK52/SEL52
Technische Daten nach DIN 32878
Shoulder clamping SEK/SEL52
Number of sine/cosine periods per revolution
SEK
SEL
16
Number of the absolute ascertainable
revolutions
Single SEK
Multi SEL
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.04 kg
Mass with cover 1)
0.07 kg
Moment of inertia to the rotor
6 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
20 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 288 angular seconds
Non-linearity within a sine/cosine period
differential non-linearity
± 72 angular seconds 2)
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. Operating speed
Single SEK
12,000 min-1
Multi SEL
Permissible shaft movement
axial
radial
Working temperature range
10,000 min-1
5 x 105 rad/s2
Max. angular acceleration
Single SEK
Multi SEL
± 0.5 mm
± 0.15 mm
–40 … +115 °C
–20 … +115 °C
Storage temperature range 3)
Permissible relative humidity
Resistance
To shocks 3)
–50 … +125 °C
90 % 4)
To vibration 4)
50 g/10 … 2000 Hz
Protection class to IEC 60529 5)
IP 40
100 g/10 ms
EMC 6)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
within EEPROM 2048 7)
Interface signals
7 … 12 V
8V
< 50 mA
1,792 bytes
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
Accessory part no. 2048234
Ordering information
2)
At nominal position ± 0.1 mm
SEK/SEL52 with shoulder clamping
3)
Without packaging
Type
Part no.
4)
Condensation not permitted
SEK52-H1A0-K02
1037369
Description
Singleturn
5)
To EN 60068-2-27
SEL52-H1A0-K02
1037372
Multiturn
6)
To EN 60068-2-6
7)
With mating connector inserted and closed cover
8)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen and by using the
cover (see accessory part no. 2048234).
Users must perform their own tests when other screen designs are used.
9)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
363
Motor Feedback Systems with HIPERFACE ® SEK37/SEL37, Radial Connector
16 sine/
cosine periods
Dimensional drawing SEK/SEL37 radial connector
A
Motor Feedback Systems
ɺ 16 sine/cosine periods
per revolution
ɺ 4,096 revolutions
measurable (Multiturn)
ɺ Programming of the
positional value
ɺ Electronic type lable
Proposed
FXVWRPHUÀWWLQJ
General tolerances according to DIN ISO 2768-mk
Pin and wire allocation
RoHS
2002/95/EC
PIN
Signal
Colour of wires
Explanation
1
Us
red
Supply voltage7 … 12 V
Process data channel
2
+ SIN
white
3
REFSIN
brown
Process data channel
4
+ COS
pink
Process data channel
5
REFCOS
black
Process data channel
6
GND
blue
Ground connection
7
Data +
grey or yellow
RS485-parameter channel
8
Data –
green or purple
RS485-parameter channel
The GND-(0V) connection of the supply voltage has no connection to the housing.
Accessories
Connection systems (page 370)
Mounting systems (page 370)
Programming Tool (page 370)
364
SICK-STEGMANN
|
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
C ATA L O G U E 2 0 0 9 / 2 0 1 0
www.barr-thorp.com
2009-06
SEK37/SEL37
Technische Daten nach DIN 32878
Number of sine/cosine periods per revolution
SEK/SEL37 radial connector
SEK
SEL
16
Number of the absolute ascertainable
revolutions
Single SEK
Multi SEL
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.04 kg
Moment of inertia to the rotor
1 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
20 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 288 angular seconds
Non-linearity within a sine/cosine period
± 144 angular seconds 1)
differential non-linearity
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. Operating speed Single SEK and Multi SEL 12,000 min-1
Max. angular acceleration
5 x 105 rad/s2
Permissible shaft movement
axial
radial
Working temperature range
Single SEK
Multi SEL
± 0.3 mm
± 0.15 mm
–40 … +115 °C
–20 … +115 °C
Storage temperature range 2)
Permissible relative humidity
–50 … +125 °C
90 % 3)
Resistance
To shocks 4)
To vibration 5)
50 g/10 … 2000 Hz
Protection class to IEC 60529 6)
IP 20
100 g/10 ms
EMC 7)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
within EEPROM 2048 8)
Interface signals
7 … 12 V
8V
< 50 mA
1,792 bytes
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
At nominal position ± 0.1 mm
Ordering information
2)
Without packaging
SEK/SEL37 radial connector
3)
Condensation not permitted
Type
Part no.
4)
To EN 60068-2-27
SEK37-HFB0-K02
1037378
Description
Singleturn
5)
To EN 60068-2-6
SEL37-HFB0-K02
1037379
Multiturn
6)
With mating connector inserted and closed cover
7)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen.
Users must perform their own tests when other screen designs are used.
8)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
SICK-STEGMANN
|
C ATA L O G U E 2 0 0 9 / 2 0 1 0
365
Motor Feedback Systems with HIPERFACE ® SEK37/SEL37, Axial Connector
16 sine/
cosine periods
Dimensional drawing SEK/SEL37 axial connector
A
Motor Feedback Systems
ɺ 16 sine/cosine periods
per revolution
ɺ 4,096 revolutions
measurable (Multiturn)
ɺ Programming of the
positional value
ɺ Electronic type lable
Proposed
FXVWRPHUÀWWLQJ
General tolerances according to DIN ISO 2768-mk
Pin and wire allocation
RoHS
2002/95/EC
PIN
Signal
Colour of wires
Explanation
1
Us
red
Supply voltage7 … 12 V
Process data channel
2
+ SIN
white
3
REFSIN
brown
Process data channel
4
+ COS
pink
Process data channel
5
REFCOS
black
Process data channel
6
GND
blue
Ground connection
7
Data +
grey or yellow
RS485-parameter channel
8
Data –
green or purple
RS485-parameter channel
The GND-(0V) connection of the supply voltage has no connection to the housing.
Accessories
Connection systems (page 370)
Mounting systems (page 370)
Programming Tool (page 370)
366
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2009-06
SEK37/SEL37
Technische Daten nach DIN 32878
Number of sine/cosine periods per revolution
SEK/SEL37 axial connector
SEK
SEL
16
Number of the absolute ascertainable
revolutions
Single SEK
Multi SEL
1
4,096
Dimensions
mm (see dimensional drawing)
Mass
0.05 kg
Moment of inertia to the rotor
1 gcm2
Code type for the absolut value
Binary
Code sequence for clockwise shaft rotation, looking in
direction "A" (see dimensional drawing)
Increasing
Measurement step at interpolation of the sine/cosine signals
with e. g. 12 bits
20 angular seconds
Error limits for evaluating the sine/cosine signals
integral non-linearity
± 288 angular seconds
Non-linearity within a sine/cosine period
± 144 angular seconds 1)
differential non-linearity
Working speed up to which the absolute position
can be reliably produced
6,000 min-1
Max. Operating speed Single SEK and Multi SEL 12,000 min-1
Max. angular acceleration
5 x 105 rad/s2
Permissible shaft movement
axial
radial
Working temperature range
Single SEK
Multi SEL
± 0.3 mm
± 0.15 mm
–40 … +115 °C
–20 … +115 °C
Storage temperature range 2)
Permissible relative humidity
–50 … +125 °C
90 % 3)
Resistance
To shocks 4)
To vibration 5)
50 g/10 … 2000 Hz
Protection class to IEC 60529 6)
IP 40
100 g/10 ms
EMC 7)
Operating voltage range
Recommended supply voltage
Max. operating current, no load
Available memory area
within EEPROM 2048 8)
Interface signals
7 … 12 V
8V
< 50 mA
1,792 bytes
Process data channel = SIN, REFSIN, COS, REFCOS Analogue, differential
Parameter channel = RS 485
Digital
1)
At nominal position ± 0.1 mm
Ordering information
2)
Without packaging
SEK/SEL37 axial connector
3)
Condensation not permitted
Type
Part no.
4)
To EN 60068-2-27
SEK37-HFA0-K02
1037376
Description
Singleturn
5)
To EN 60068-2-6
SEL37-HFA0-K02
1037377
Multiturn
6)
With mating connector inserted and closed cover
7)
To EN 61000-6-2 and EN 61000-6-3
The EMC according to the standards quoted is achieved when the motor feedback
system is mounted in an electrically conductive housing, which is connected to the
central earthing point of the motor controller via a cable screen.
Users must perform their own tests when other screen designs are used.
8)
If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
2009-06
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367
SEK52/SEL52 and SEK37/SEL37
Electrical interface
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Signal specification of the process data channel
Signal diagram for
clockwise rotation
of the shaft, looking
in direction "A"
1 period = 360° : 16
Access to the process data used for speed
control, i.e. to the sine and cosine signals, is
practically always "online". When the supply voltage is applied, the speed controller has access
to this information at any time.
Sophisticated technology guarantees stable
amplitudes of the analogue signals across all
VSHFLÀHGHQYLURQPHQWDOFRQGLWLRQVZLWKDPD[Lmum variation of only ± 20 %.
Characteristics applicable to all permissible environmental conditions
Value/Units
Signal
Signal peak, peak Vss of SIN, COS
0.8 … 1.2 V
Signal offset REFSIN, REFCOS
2.2 … 2.8 V
Recommended receiver circuit for sine and cosine signals
Further informations to the interface
see HIPERFACE®-description
part no. 8010701
368
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2009-06
SEK52/SEL52 and SEK37/SEL37
Type-specific settings
SEK37/SEK52
SEL37/SEL52
Type ID (command 52h)
42h
47h
Free EEPROM [bytes]
1,792
1,792
Address
40h
40h
Mode_485 1) 2)
E4h
E4h
Codes 0 … 3
55h
55h
Counter
0
0
Overview of commands supported
1)
2)
3)
4)
The baud rate 9600 is set by default.
Other baud rates cannot be selected.
When using the motor feedback systems
SEK|SEL37 and SEK|SEL52, please
ensure that the controller’s auto-baud
function is not enabled, since these motor
feedback systems compensate for minor
variations when transmitting at a baud
rate of 9600.
The commands thus labelled include
the parameter “Code 0”.
Code 0 is a byte inserted into the
protocol, for additional safeguarding
of vital system parameters against
accidental overwriting.
When shipped, “Code 0” = 55h.
Temperature compatible with SCx
(encoder temperature [°C] *2.048 – 40)
Code 0 3)
Command byte
Function
42h
Read position (5 bits per sine/cosine period)
43h
Set position
44h
Read analogue value
46h
Read counter
47h
Increase counter
49h
Reset counter
4Ah
Read data
4Bh
Save data
4Ch
Determine status of a data field
4Dh
Create data field
4Eh
Determine available memory area
4Fh
Change access code
50h
Read encoder status
52h
Read out name plate
53h
Encoder reset
55h
Allocate encoder address
56h
Read serial number and program version
SEK37/SEK52
SEL37/SEL52
Comments
Comments
9 bits
21 bits
Channel number
F0h 4) and 48h
Channel number
F0h 4) and 48h
Temperature [°C]
Temperature [°C]
Encoder type = 42h
Encoder type = 47h
‡
‡
‡
Overview of status messages
Error type
Initialisation
Protocol
Data
Position
Other
Further informations to the interface
see HIPERFACE®-description
part no. 8010701
2009-06
Status code
Description
00h
The encoder has recognised no error
01h
Faulty compensating data
02h
Faulty internal angular offset
03h
Data field partitioning table damaged
04h
Analogue limit values not available
05h
Internal I2C bus not operational
06h
Internal checksum error
07h
Encoder reset occurred as a result of program monitoring
09h
Parity error
0Ah
Checksum of the data transmitted is incorrect
0Bh
Unknown command code
0Ch
Number of data transmitted is incorrect
0Dh
Command argument transmitted is not allowed
0Eh
The selected data field must not be written to
0Fh
Incorrect access code
10h
Size of data field stated cannot be changed
11h
Word address stated, is outside data field
12h
Access to non-existent data field
1Fh
Speed too high, no position formation possible
20h
Singleturn position unreliable
21h
Positional error Multiturn
22h
Positional error Multiturn
23h
Positional error Multiturn
1Ch
Monitoring the value of the analogue signals (process data)
1Eh
Encoder temperature critical
08h
Counter overflow
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123
www.barr-thorp.com
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|
SEK37/52
SEL37/52
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
369
Accessories Connection Systems/Mounting Systems/Programming Tool
Dimensional drawings and ordering information
Stranded cable/connector, straight, 8 wires, 8 x 0.15 mm2
Type
Part no.
Contacts
Wire length
DOL-OJ08-GOM2XB6
2031086
8
0.2 m
Shrunk area
Assembly tool for SEK/SEL52 hollow shaft
Type
Part no.
Description
BEF-MW-SEY52
2048235
Assembly tool SEK/SEL52
Servo clamp, Set (contents 3 off)
Servo clamp, Set (contents 3 off)
Type
Part no.
Description
Type
Part no.
Description
BEF-WK-RESOL
2039082
Servo clamp for SEK/SEL52
BEF-WK-RESOL1
2048827
Servo clamp for SEK/SEL52
(Hollow shaft and tapered shaft)
&DEOH+,3(5)$&(®, 8 wires, per metre 4 x 2 x 0,15 mm2
(Shoulder clamping)
3URJUDPPLQJ7RROIRU+,3(5)$&(® devices
Type
Part no.
Wires
Type
Part no.
Motor Feedback System
LTG-2708-MW
6028361
8
PGT-03-S
1034252
SEK/SEL37 and SEK/SEL52
370
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2009-06
SEK52/SEL52 and SEK37/SEL37
Dimensional drawings and ordering information
Cover SEK/SEL52 with tapered shaft or collar clamping
Type
Part no.
Description
BEF-GA-SEY52BS1
2048234
Cover closed
Cover SEK/SEL52 with hollow shaft
Type
Part no.
Description
BEF-GA-SEY52TS1
2048232
Cover opened
2009-06
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www.barr-thorp.com
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C ATA L O G U E 2 0 0 9 / 2 0 1 0
371
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