Series M21 Modular - Fancher and Associates, Inc.

Series M21 Modular - Fancher and Associates, Inc.
Encoders
Dynapar ™ b r a n d
Series M21 Modular
• Modular, Incremental Encoder for Stepper and Small Servo Motor Feedback
• Phased Array Sensor Technology Provides High Temperature and Operating
Frequency and Allows 0.020" (0.5 mm) of Axial Play
• Resolutions to 2048 PPR with Index Standard; Optional 4, 6, 8 or 12 Pole
Commutation Tracks for Brushless Servo Motors
• Easy Installation and Removal without Special Tools or Parts
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APPLICATION/INDUSTRY
SPECIFICATIONS
The Dynapar brand M21 modular encoder
provides high-performance, cost effective
feedback for stepper and servo motor controls.
STANDARD OPERATING CHARACTERISTICS
MECHANICAL
Code: Incremental
Resolution: (pulses/revolution)
Incremental: 500 to 2048 PPR
Commutation: 4, 6, 8 or 12 pole
Accuracy:
Incremental: ±5 arc-mins. max. edge to edge;
Commutation: ±6 arc-mins. max.
Sense: (viewing encoder mounting surface)
Incremental: A leads B by 90° for CCW rotation
of motor shaft;
Commutation: U leads V, V leads W by 120° for
CW rotation of motor shaft
Phasing:
Incremental: 90° ±18° electrical
Commutation: 8 Pole: 30°; 6 Pole: 40°; 4 Pole:
60° mechanical
Index to U Channel: ±1° mechanical - Index
center to U channel edge
Symmetry:
Incremental: 180° ±18° electrical
Commutation: 8 Pole: 45°;
6 Pole: 60°; 4 Pole: 90° mechanical
Index Pulse Width: 180° ±36° electrical (Gated
with B low) standard
Weight:
Connector: 1 oz. (28 gm) typ.
Connector w/cover: 1.5 oz. (43 gm) typ.
Cable: 2.5 oz (71 gm) typ.
Cable w/cover: 3 oz. (85 gm) typ.
Dimensions:
Outside Diameter: 2.1" (53 mm) max. w/cover,
2.0" (51 mm) max. without cover; Height: 0.8"
(20.3 mm) max. (w/cover, excluding connector);
Emitter to Detector Gap: 0.070" (1.8 mm) min.
Material:
Base, Housing, & Cover: high temperature, glass
filled polymer;
Hub: Aluminum; Disk: 0.030" thick glass
Finish:
Base & Housing: black;
Cover: RAL 7010 (dark grey)
Moment of Inertia: 6.64 x 10-5 in-oz sec.2 (4.7
gm-cm2)
Hub Diameters: 1/4", 3/8", 7/16", 1/2", 6 mm, 8
mm, 10 mm, 12 mm nominal
Hub Dia. Tolerance: +0.001"/-0.000" (+0.026
mm/-0.000 mm)
Mating Shaft Length: 0.45" (12 mm) min. blind
hub clamp screw, 0.65" (16.5 mm) exposed hub
clamp screw; 0.75" (19 mm) max. inside cover
Mating Shaft Runout: 0.002" (0.05 mm) max.
(Includes shaft perpendicularity to mounting
surface)
Mating Shaft Endplay: +0.005"/-0.015" (+0.13
mm/-0.38 mm) nominal ("+" indicates away from
mounting face)
Mounting:
Base: (2) #4-40 (M2.5) #1 Phillips fillister head
cap screw on 1.812" (46 mm) B.C., 0.01" (0.254
mm) true position to shaft; Shaft: split hub w/
collar clamp, #2-56 hex socket cap screw (5/64"
hex wrench included)
Electrical/Mechanical Alignment Range: ±15°
mechanical
Acceleration: 100,000 rad/sec.2 max.
Velocity: 12,000 RPM max.
DESCRIPTION
Using industry standard package
dimensions, the M21 is easily installed
onto the motor without time-consuming
adjustments or special tools. Its unique
mechanical design automatically centers
and gaps the disc during installation.
For Brushless DC (BLDC) servo control,
optional 3 phase commutation tracks
replace the traditional Hall Effect sensors.
These optically-generated signals provide
higher accuracy and reliability, improving
the performance and reliability of the
servo system.
FEATURES AND BENEFITS
• The M21 design operates up to 120°C.
The high temperature plastics, phased
array sensor, and low current requirements stabilize the output signals over a
wide range of input voltage, ambient
temperature, or output frequencies.
• The M21 provides 30 degrees of
adjustment to align the signal outputs to
the shaft position. Using an industry
standard Size 21 modular mounting
pattern, the index mark on the disc hub
can be coarse aligned to the index
sensor position on the housing. The
housing rotates to allow further
adjustment of the index or fine alignment
of the commutation channels to the
BLDC motor windings.
• The M21 enclosure is dirt-tight, rated
NEMA 1 / IP50. The cover is gasketed to
seal the disc and optics from contamination. Additionally, the base can be
sealed to the motor for further
environmental protection.
• The M21 outputs are protected from
short circuits, and operate on 5 or 12
VDC power.
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ELECTRICAL
Input Power Requirements:
Incremental: 5 or 12 VDC ±10% at 100 mA max.
(excluding output load);
Commutation: 5 or 12 VDC ±10% at 75 mA max.
(excluding output load)
Output Signals:
7272 Line Driver: 40 mA sink/source max.;
Open Collector w/2.0 kΩ pull-ups: 16 mA sink
max.
Frequency Response: 200 kHz min.
Termination:
Connector: PCB mounted dual row head with
0.1" x 0.1" pin spacing, 10 pins (incremental
only), 16 pins (w/commutation); Cable:
conductors - 28 AWG, stranded (7/36),
insulation - black, PVC; Shield: aluminum/
polyester foil plus tinned, copper drain wire (28
AWG, 7/36)
Noise Immunity: Conforms to EN50082-1 Light
Industrial for Electro-Static Discharge, Radio
Frequency Interference, Electrical Fast
Transients, Conducted Interference, and
Magnetic Fields (for models or applications with
shielded cable)
ENVIRONMENTAL
Operating Temperature: -40° to 120°C
Storage Temperature: -40° to 85°C
Shock: 50 G’s for 11 msec duration
Vibration: 2.5 G's at 5 to 2000 Hz
Relative Humidity: 90% non-condensing
Enclosure Rating: NEMA 1 / IP50 dirt-tight (for
models with cover)
Encoders
Series M21 Modular
Dimensions/Installation
FOR BLIND HUB
CLAMP SCREW:
0.30"
(7.65 mm)
Output Waveforms (For clarity, compliments are not shown.)
CCW SHAFT ROTATION
180°e
5/64"
HEX KEY
5/64"
HEX KEY
4.3"
(120 mm)
RADIUS
CW SHAFT
ROTATION
CH. A
90°e
CH. B
180°e
CCW SHAFT
ROTATION
2.0" DIA.
(51 mm)
2 x 0.125" DIA.
(3.2 mm) on
1.812" DIA. B.C.
(46 mm)
±1°m
CH. U
80° OFFSET BETWEEN
MOUNTING HOLE AXIS AND
ACTIVE INDEX OUTPUT
(CENTERED IN ADJUSTMENT
RANGE)
(MOUNTING
HOLE AXIS)
0.70" TYP.
(17.85 mm)
CH. Z
INDEX
SENSOR
POSITION
CW SHAFT ROTATION
CH. Z
180°e
(FOR BLIND HUB CLAMP SCREW:
ALIGN INDEX MARK ON
HUB WITH VERTICAL EDGE ON
HOUSING TO PROPERLY
ORIENT HUB CLAMP SCREW
TO HEX KEY ACCESS HOLE
THRU SIDE OF HOUSING)
#1 PHILLIPS
ALIGNMENT SCREW
INDEX MARK ON HUB
Installation Instructions: Drawing #200567-0001
Alignment Instructions: Drawing #200567-0002
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CH. U
120°e
CH. V
120°e
CH. W
Code 6: Terminations (Not all signals present on all models)
0: Pin Header
Pin
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
10 Pin
O.C. L.D.
—
A
Vcc
Vcc
GND GND
—
—
—
A'
—
A
—
B'
B
B
—
Z'
Z
Z
—
—
—
—
—
—
—
—
—
—
—
—
1-8: Ribbon Cable
0.18" TYP.
16 Pin
(4.6 mm)
————
Vcc com
Vcc Inc
0.80" TYP.
(20.3 mm)
GND Inc
GND com
A'
A
B'
B
0.60"
(15.24 mm)
Z'
(10 & 16 PIN)
Z
U'
U
V'
V
16 PIN: 0.55"
(13.97 mm)
W'
10 PIN: 0.40"
W
(10.16 mm)
Mating Cable Assembly:
10 pin, 109524-000x
16 pin, 109523-000x
x= length in feet
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A-H: Shielded Cable
Function
Vcc com
Vcc Inc
GND Inc
GND com
A'
A
B'
B
Z'
Z
U'
U
V'
V
W'
W
2.10" DIA.
(53 mm)
PIN #1
80° NOM.
(±15° ADJ.)
Wire Color
Incr. &
Incr. Only
Comm.
—
RED/WHT
RED
RED
BLK
BLK
—
BLK/WHT
BLU/BLK
RED/BLK
BLU
GRN
WHT/BLK GRN/BLK
GRN
ORN
VIO/BLK
BLU
VIO
WHT
BRN/BLK
—
—
BRN
—
GRY/BLK
—
GRY
WHT/BLK
—
WHT
—
0.24" TYP.
(6.1 mm)
0.56" TYP.
(14.2 mm)
2.10" DIA.
53 mm
(MOUNTING
HOLE AXIS)
PIN #2
115° NOM.
(±15° ADJ.)
(MOUNTING
HOLE AXIS)
Ordering Information
To order, complete the model number with code numbers from the table below:
Code 1: Model
Code 2: PPR, Poles
M21
Code 3: Cover
Code 4: Electrical
Code 6: Termination
Code 5: Hub
/
Ordering Information
M21
Size 20
Commutating
Modular
Incremental channels only
0500/0
0512/0
1000/0
1024/0
2000/0
2048/0
Incremental plus
Commutation channels
0500/†
1000/†
1024/†
2000/†
2048/†
† Available with 4, 6, 8
or 12* pole (12 pole is
designated by character "C")
Examples: 1024/8 is
1024PPR, 8 pole;
2000/C is 2000PPR,
12 pole
0 No cover
1 Enclosed,
end-of-shaft
mount
2 Through
shaft
0 5V in, open collector out
incremental only
Blind hub clamp screw:
0 1/4 in.
1 12V in, open collector out
incremental only
1 3/8 in.
3 5V in, line driver out
incremental only
3 1/2 in.
2 7/16 in.
4 6 mm
Available when Code 2 is XXXX/4,
XXXX/6, XXXX/8, XXXX/C
6 5V in, line driver out incr.; 5V
in, open collector out comm.
5 8 mm
6 10 mm
7 12 mm
0
Pin Header
1-8 Mating ribbon
cable included;
1=1 ft., 2=2 ft.,
etc.
Available when Code 4 is
3 or higher:
A-H Shielded cable;
A=1 ft., B=2 ft.,
etc.
7 5V in, line driver out incr.; 12V Exposed hub clamp
screw:
in, open collector out comm.
A 1/4 in.
9 5V in, line driver out incr.; 5V
B 3/8 in.
in, line driver out comm.
C 7/16 in.
D 1/2 in.
E 6 mm
F 8 mm
G 10 mm
H 12 mm
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