Absolute rotary encoder with TCP/IP+UDP interface

Absolute rotary encoder with TCP/IP+UDP interface
Absolute Rotary Encoder
with Ethernet TCP/IP and UDP Interface
User manual
Scancon A/S, Tranevang 1, DK-3450 Alleroed, Denmark
Tlf: +45 48172702 Fax: +45 48172284
www.scancon.dk , [email protected]
Imprint
POSITAL GmbH
Carlswerkstrasse 13c
51063 Köln
Phone
+49/221/96213-0
Internet
Fax
www.posital.com
+49/221/96213-20
e-mail
[email protected]
Alteration of Specifications reserved
Technical specifications, which are described in
this manual, are subject to change due to our
permanent strive to improve our products.
Document information
File name:
UME-OCD-ETA1
Date:
March 2009
Version number:
1.07
Author:
Reiner Bätjer
Copyright
Service-Phone
The company FRABA POSITAL claims copyright
on this documentation. It is not allowed to modify,
to extend, to hand over to a third party and to copy
this documentation without written approval by the
company FRABA POSITAL. Nor is any liability
assumed for damages resulting from the use of the
information contained herein. Further, this
publication and features described herein are
subject to change without notice.
For technical support, questions and suggestions
for improving our products and documentations call
our telephone line: +49/221/96213-0
Version 03/09
Page 2
1 Introduction ....................................................... 4
6 Technical Data ................................................ 19
1.1 Absolute Rotary Encoders ............................... 4
6.1 Electrical Data................................................ 19
1.2 Ethernet ........................................................... 5
6.2 Mechanical Data ............................................ 19
1.3 TCP/IP ............................................................. 5
6.3 Minimum (mechanical) lifetime ...................... 20
1.4 UDP ................................................................. 6
2 Hardware set-up and Ethernet Connection .... 7
6.4 Environmental Conditions .............................. 20
7 Mechanical Drawings ..................................... 21
2.1 Network Topology ............................................ 7
7.1 Synchro Flange (S) ........................................ 21
2.2 Connecting an Absolute Encoder..................... 8
7.2 Clamp Flange (F)........................................... 21
2.3 Ethernet Cables ............................................... 8
2.3.1 RJ45 – M12 crossed ..................................... 8
7.3 Hollow shaft (B) ............................................. 22
8 Models / Ordering Description....................... 23
2.3.2 RJ45 – M12 straight ...................................... 8
9 Accessories and Documentation .................. 24
2.3.3 M12 – M12 crossed ...................................... 8
10 Glossary ........................................................ 24
2.4 Diagnostic LED’s.............................................. 9
3 Programming................................................... 10
3.1 Programming of Parameters .......................... 10
3.2 Operating by the integrated Web Server........ 11
3.3 E-mail and Network Configuration ................. 12
4 Operating by TCP/IP Commands................... 13
4.1 Introduction .................................................... 13
4.2 Installation...................................................... 13
4.3 PATH Variable ............................................... 13
4.3.1 MS-DOS, Win95, Win98, WinME................ 13
4.3.2 WinNT3.51, WinNT4, Win2000, WinXP ...... 14
4.4 Operating ....................................................... 14
4.5 Advanced functionality ................................... 14
4.6 Parameters .................................................... 15
4.6.1 Commands.................................................. 15
4.6.2 Variables ..................................................... 16
4.6.3 Encoder answers ........................................ 18
5 Using UDP transmission ................................ 18
Version 03/09
Page 3
1 Introduction
1.1 Absolute Rotary Encoders
Absolute rotary encoders provide a definite value
for every possible rotary position. All these values
are reflected on one or more code discs. The
beams of infrared LEDs are sent through the code
discs and detected by Opto-Arrays. The output
signals are electronically amplified and the
resulting value is transferred to the interface.
The absolute rotary encoder has a maximum
resolution of 65,536 steps per revolution (16 Bit).
The Multi-Turn version can detect up to 16,384
revolutions (14 Bit). Therefore the largest resulting
resolution is 30 Bit = 230 = 1,073,741,824 steps.
The standard Single-Turn version has 13 Bit, the
standard Multi-Turn version 25 Bit.
The encoder sends the data in decimal code via
standard or fast Ethernet (10 Base T, 100 Base T).
At present it supports the following international
standardized protocols: IP, TCP, UDP, http and
SMTP.
Version 03/09
The encoder is able to provide three different kinds
of output data: the position value, a velocity value
and a time stamp. These can be used in arbitrary
combinations.
The following functions of the absolute rotary
encoder can be programmed directly via the
Ethernet connection:
Used scope of physical resolution
-
Total scaled resolution
Preset value
Code sequence (Complement)
There is no specific software required to initiate
and use the absolute rotary encoder because the
sensor can be read out and programmed by any
standard web browser. For this purpose the
absolute rotary encoder contains a web server,
which provides HTML documents with embedded
Java applets. These documents are a widely selfexplanatory graphical user interface (GUI) that is
described in detail in chapter 2. The automated
data transfer with a control system is done with
TCP/IP by simple plain text commands and data in
ASCII format.
Page 4
1.2 Ethernet
The present developments in the field of Industrial
Ethernet are based on the vision of an integrated
access of all data of a company through a uniform
communication system. In higher levels of
enterprise communication Ethernet is the main
medium of data transfers. Combined with other IT
technologies it is internationally standardized. In
the long run automation engineers will benefit from
the rapid technological progress in the mass
markets of IT and web technologies.
1.3 TCP/IP
Even though Ethernet and TCP/IP are often used
together and sometimes used interchanged, these
are three different kinds of terms and you should
carefully separate them. The coherences are
based on the ISO/OSI reference model after
ISO/IEC 7498 that is needed to basically
understand these terms.
Ethernet technically provides a system with higher
data transfer rates than common field bus systems.
TCP/IP and UDP do have a statistical access
method to access the medium thereby prohibiting
determined response times. Many developments
are intensely done on additional real time
mechanisms, e.g. Ethernet Powerlink, Ethernet/IP,
Profinet or EtherCat. However, you can already get
access times that are sufficient for many
applications when using TCP/IP or UDP. If you
directly connect the absolute encoder to a
computer via a 100 Mbit network card, you will get
a cycle time of less than 2 ms. In huge networks
the cycle times will depend on the utilization of the
network.
and 7.
Version 03/09
Ethernet only describes layer 1 and 2 in this model,
nevertheless the term is often used in error in
engineering as description of all layers between 1
The IP protocol of layer 3 was developed in the
70’s by the US military (MIL-STD 1777). It allows a
universal addressing independent of the hardware
involved in heterogeneous networks. It also
manages the transfer of large packets by splitting
them up into smaller packets. The well-known TCP
protocol (MIL-STD 1778) ensures a reliable data
transfer.
Http (RFC 2068) and SMTP (MIL-STD 1781)
belong to layer 7 of the OSI model and allow to
transfer data and documents via web browser or to
send e-mails.
Page 5
1.4 UDP
User Datagram Protocol is utilized to send data
that does not need to be transferred in a reliable
way. The UDP packet is encapsulated in an IP
packet which in turn is encapsulated in a PPP
packet. Both UDP and IP have checksum octets
and the PPP packet has its FCS octets however
this can only guarantee that the data and the
destination are correct. If a packet is lost, it will not
be resent using UDP, this issue is only addressed
by the TCP protocol.
1.5 OSI-Modell
Layer
7
Application
Layer
6
Presentation
Layer
SMTP, FTP, HTTP
5
Session Layer
4
Transport Layer
TCP and UDP
3
Network Layer
IP and IPX
2
Data Link Layer
Ethernet
1
Physical Layer
10BASET, 100BASET
Version 03/09
Application
Data transport
Cable
Page 6
2 Hardware set-up and Ethernet Connection
2.1 Network Topology
Using Ethernet there are different kinds of
topologies possible. The connection of the encoder
can be made both directly to the computer with a
network card or indirectly with a switch, hub or
company network, see figure below. If you use a
direct connection to a computer without network
components in between, you need to use a
cat 5 crossover cable
standard, “straight” network cable (not a crossover
cable). You need at least a cable of category 5 to
get a data transfer rate up to 100 Mbit. If there is a
network component in the network, which does not
provide Fast Ethernet, the sensor will automatically
switch down to 10 Mbit.
cat 5 cable
Cat 5 cable
Version 03/09
Page 7
2.2 Connecting an Absolute Encoder
The encoder is connected by a 5 pin M12
connector for the power supply and one 4 pin,
D-coded M12 connector for Ethernet.
Encoder version B1 uses a second D-coded
connector and provides an integrated hub
functionality. On or in the packaging of the
connector is the mounting description.
Connector Ethernet
4 pin female, D-coded
Connector power supply
5 pin male, A-coded
Pin Number
Signal
Pin Number
Signal
1
Tx +
1
+24 V
2
Rx +
2
+24 V
3
Tx -
3
0V
4
Rx -
4
0V
5
PE
Sketch on encoder view
4
3
4
3
5
1
1
2
2
2.3 Ethernet Cables
2.3.1 RJ45 – M12 crossed
Signal
RJ45 Pin M12 Pin
Signal
Signal
M12 Pin
M12 Pin
Signal
Tx+
1
2
Rx+
Tx+
1
2
Rx+
Tx-
2
4
Rx-
Tx-
3
4
Rx-
Rx+
3
1
Tx+
Rx+
2
1
Tx+
Rx-
6
3
Tx-
Rx-
4
3
Tx-
2.3.3 M12 – M12 crossed
2.3.2 RJ45 – M12 straight
Signal
RJ45 Pin M12 Pin
Signal
Tx+
3
1
Tx+
Tx-
6
3
Tx-
Rx+
1
2
Rx+
Rx-
2
4
Rx-
Version 03/09
Page 8
2.4 Diagnostic LED’s
LED
Color
Description for LED = on
Rx1
Yellow
Incoming and outgoing traffic for port 1
Link1
Green
Link to another Ethernet component for port 1
Collosion1
Red
-
Rx2
Yellow
-
Link2
Green
-
Collosion2
Red
-
Error
Red
-
Run
Green
-
Ethernet
TCP/IP
Err
Run
Rx2
Link2
Col2
Rx1
Col1
Link1
PWR
Port 1
Port 2
Version 03/09
Page 9
3 Programming
3.1 Programming of Parameters
The encoder is able to provide three different kinds of output data: the position value, a velocity value and
a time stamp. These can be used in arbitrary combinations.
Parameter
Description
Used scope of physical resolution Specifies the part of the physical resolution used for the encoder in
(parameter 1.)
physical steps. If e.g. for an encoder with a resolution of 8192 steps
per revolution 16384 is chosen, the encoder will count 8192 steps
per revolution (if “Total scaled resolution” is set to the same value as
“Used scope of physical resolution”) and start with zero again after 2
revolutions. If this value is not set to a value which results in an
integer division with the total physical resolution, the encoder value
will jump to zero when passing the physical zero point.
Total scaled resolution
(parameter 2.)
Specifies the scaled resolution which is used over the area of
physical steps defined by “Used scope of physical resolution”. If e.g.
the encoder is set as described above and “Total scaled resolution”
is set to 10, the encoder will count 10 steps over the physical steps
defined with “Used scope of physical resolution”, i.e. 5 steps per
revolution.
Code sequence
The code sequence (complement) can be programmed as an
operating parameter. This parameter determines whether the output
code increases or decreases when the axis is turned clockwise.
Preset value
The preset value is the desired output value for the actual position of
the axis. The actual output value will be set to this preset value.
The html page, the programmable parameters, and the diagnostics of the encoder are described in the
next chapter.
Max. physical
position value
Max. needed
position value
(parameter 2.)
Wanted zero
crossing
(parameter 1.)
Version 03/09
10
Physical zero
crossing
Page
3.2 Operating by the integrated Web Server
The absolute rotary encoder can be addressed
page, will open a html page showing all available
by any web browser (e.g. Netscape, Internet
commands („Information about Commands“) or
Explorer, Opera, etc.). Please enter the IP
the page to configure the network settings.
address of the encoder in the address field of
Chapter 4 describes these commands in more
the browser. The factory setting for the IP
detail.
address is 10.10.10.10. Chapter 3.2.2 will deal
To read, for example, the position value
with changing the IP address.
continuously please set the desired cycle time
and choose the cyclic mode. Each command to
If the encoder has built up a connection to the
the encoder and messages from the encoder are
browser, you can see its start page. To be able
logged in the encoder message window.
to parameterize the encoder
please open the page “Main Controller Site“ (see
image below). The other links on the starting
Version 03/09
11
Page
3.3 E-mail and Network Configuration
The rotary encoder can be used either with the
wired IP 10.10.10.10 or the software IP address
which can be programmed. A switch to choose
either option is located in the connection cap. If
the switch 2 is in position “off”, the
programmable IP has been chosen. Both Hex
rotary switches and switch 1 are not in use for
this encoder. The configuration window can be
accessed via the “Main Controller Site” or the
start page.
Version 03/09
Page 1
2
4 Operating by TCP/IP Commands
4.1 Introduction
To use the absolute encoder with a control system
platform independent commands and data in ASCII
format can be exchanged by TCP/IP. To take a
look at the commands and a short description
please see chapter 4.6. To find out how to address
the TCP/IP interface of your control or operating
system please refer to the documentation for these
devices
standard gateway. The default IP address of the
sensor is 10.10.10.10. You can check the
connection to the sensor with the command “ping
<IP-sensor>“.
4.2 Installation
To communicate with the Encoder using our
example tools tcpcl or updcl, a Java runtime
environment is required on your PC. If you have
not installed Java, you can get it from our CD (look
under the section “accessories”). You can also
download
the
latest
version
from
http://java.sun.com/products/j2se.
Copy
the
FRABA-Java programs which you can find on our
CD in the folder
”CD_Manual+Tools\EthernetEncoderTools“
or on web site
http://www.posital.de/products/ocd/ethernet/ethern
et.html onto your hard disk, e.g. in the folder
c:\fraba\ethernet.
Afterwards you need to set up the PATH variable
for the Java installation and the FRABA-Java
programs. For a convenient start we also provided
batch files to start the java files, depending on the
IP addresses you might need to modify them. For
TCP will be used port 6000.
If you use a Windows PC, you can try the following
connection to the sensor: Go to the command
prompt (DOS) and type in “ping <computer-name>”
or “ipconfig”. In response you get the IP address of
your computer. If the encoder IP address is not
located within your subnet mask, you will need to
prepare the data transfer to the encoder by
entering the command “route add <IP-sensor> <IPcomputer>“. Maybe are administrator rights
necessary. Otherwise your PC/control system will
try to reach the encoder via your computers
Version 03/09
13
4.3 PATH Variable
4.3.1 MS-DOS, Win95, Win98, WinME
Please add the required paths to c:\Autoexec.bat
behind the “Path” line. Example:
Path=c:\ms-dos; c:\Program Files\BC\BIN
Path=%Path%;c:\fraba\ethernet\
Path=%Path%;c:\programme\java\bin
Page
4.3.2 WinNT3.51, WinNT4, Win2000, WinXP
In Start – Settings – Control panel – System –
Advanced – Environment Variables you can
configure the variable “Path”. Please do not
change the other path settings, but only add the
required paths! Depending on the operating
system used administrator rights might be
necessary.
4.4 Operating
After starting the batch file TCP_10101010.bat
the connection to the encoder will be built up.
Once you are connected, you can try e.g. “read
If the encoder is running in cyclic mode, you can
see position values coming continuously from
the encoder. You can enter a command anyway,
offset” (please note space) to read out the
calculated offset from the encoder. You can see
all available commands in the next chapter.
although your input will be overwritten by new
position values, the command will still be sent
once you press enter.
The Java program can be finished with CTRL-C.
4.5 Advanced functionality
In the subdirectory "advanced" on our CD there
is a version of the TCP-client with enhanced
functionality:
• the time from the command till the encoder
issues an answer can be measured in steps
of 10 ms. This can be switched on/off using
time / notime.
• the binary values transmitted by the encoder
can be transferred to ASCII again, if it does
Version 03/09
14
•
•
•
not contain ‘\0’ or ‘\n’. This can be switched
by binary / ASCII, it will be automatically
switched when the encoder is switched
from/to binary mode.
Scrolling of the output can be turned on/off
via scroll / noscroll
'new' renews the connection to the encoder
'exit' will close the TCPClient application
Page
4.6 Parameters
4.6.1 Commands
Important: Please note spaces, upper and
lower case! <Value> means the parameter to
enter. All commands and parameters have to be
entered in one line and started with <ENTER>.
“Value“ means the output value. You can
change and read the settings of the encoder by
using the following commands:
Commands
Remarks
Run!
This command will order the encoder to send a position value, regardless
of the time mode.
set <Variable>=<Value>
This command will set a variable to a given value. If successful, the
encoder will answer in the form <Variable>=<Value>, else an error
message will be issued. All variables/modes are stored in the internal flash
a few seconds after they were set.
After the value was saved, the message "Parameters successfully written!"
is issued to all connected TCP-Clients. If the encoder is turned off while
writing to the flash, the process can damage the flash and destroy the
encoder program.
Please take care under all circumstances that the encoder is not turned off
while it is writing to the flash !
read <Variable>
This command will read out a variable from the encoder. The encoder will
answer in the form <Variable>=<Value>.
Version 03/09
15
Page
4.6.2 Variables
Variables
UsedScopeOfPhysRes
Remarks / Values
Specifies the part of the physical resolution used for the encoder in physical
steps. If e.g. for an encoder with a resolution of 8192 steps per revolution
16384 is chosen, the encoder will count 8192 steps per revolution (if
TotalScaledRes is set to the same value as UsedScopeOfPhysRes) and
start with zero again after 2 revolutions. If this value is not set to a value
which results in an integer division with the total physical resolution, the
encoder value will jump to zero when passing the physical zero point.
Default value: Physical resolution of the type label. I.e. 4096 resolutions x
8192 steps per revolution = 33,554,432
TotalScaledRes
Specifies the scaled resolution which is used over the area of physical
steps defined by UsedScopeOfPhysRes. If e.g. the encoder is set as
described above and TotalScaledRes is set to 10, the encoder will count 10
steps over the physical steps defined with UsedScopeOfPhysRes, i.e. 5
steps per revolution. Default value: Physical resolution of the type label. I.e.
4096 resolutions x 8192 steps per revolution = 33,554,432
CountingDir
Specifies the direction to turn the axis which is associated with higher
values.
•
CW: denotes that clockwise turning will increase the position value
•
CCW: denotes that counterclockwise turning will increase the position
value
Preset
When the preset is set, an internal offset will be calculated, which will be
saved and added to all position values afterwards. The value given for the
preset denotes the position value the encoder will show at the point where
the preset was set.
Offset
This variable makes it possible to directly change the offset calculated and
set by the preset function.
TimeMode
Possible time modes are:
•
polled: Encoder will only send output values if asked to do by "Run!"
•
cyclic: Encoder will send output values after time specified by
CycleTime.
•
change of state: The Encoder will send the output values only if either
the position or the velocity has changed. The values are checked
every 5 ms to reduce unwanted network traffic
Version 03/09
16
Page
Variables
Remarks / Values
OutputMode
Possible output modes are:
[Position_][Velocity_][Timestamp_]
where the components mean:
•
Position: Encoder will send a scaled Position value.
•
Velocity: Encoder will send a velocity Value (steps/s).
•
Timestamp: Encoder will send a timestamp in microseconds, starting
with 0 at the startup of the encoder. As the counter is a 32 Bit value, the
timestamp will reach zero again after approx. 1.2 hours.
OutputType
Possible output types are:
•
ASCII: Encoder will send ASCII-letters in the form
•
•
"POSITION=<POSITION> VELOCITY=<VELOCITY>
TIMESTAMP=<TIME>"
ASCII_SHORT: Encoder will send ASCII-numbers in the form
"<POSITION> <VELOCITY> <TIME>", separated by spaces
BINARY: Encoder will send 32 bit binary values without any separator
between the values.
CycleTime
States the time in ms for the cyclic time mode. Can have values between
1 ms and 999,999 ms.
IP
Sets the IP-address of the encoder and must be a valid IP-address in the
form a.b.c.d, with a, b, c, d from 0 to 255.
Attention: The IP-address will only be activated after a new power-up when
switch 2 is in position “off”.
NetMask
The net mask used by the encoder. Please take care that Encoder and
PLC/PC are within the same subnet or specify a working gateway.
Gateway
Gateway to be used by the encoder, if own IP-address and destination
IP-address are not within the same subnet specified by the net mask.
OwnEmailAddr
The email-address given as the sender in emails from the encoder.
RmtEmailAddr
The email address emails will be send to.
SMTPServerIP
The IP-address of the SMTP-server which the encoder will send the email
by.
Verbose
Version 03/09
17
Level of information output for tracer (0 = only errors, 1 = errors and
warnings, 2 = errors, warnings and clues)
Page
4.6.3 Encoder answers
Encoder answers
Remarks
<Variable>=<Value>
If a variable was correctly set, the encoder will answer to all connected
TCP-clients with the variable and its new value. This indicates that the
Encoder understood the command and now uses the value, it does not
indicate that the value was already save to the internal Flash, please allow
some additional seconds for that.
ERROR: ...
If something went wrong, the encoder will issue an error, e.g. if it did not
understand a command or if a value for a variable was not correct. It will
describe the error after the "ERROR:" tag.
WARNING: ...
If a variable was set to a value, which is permitted, but which may result in
problems when certain conditions occur, the encoder will issue a warning.
This could for example happen, if the variable UsedScopeOfPhysRes is set
to a value which does not result in an integer division with the physical
resolution of the encoder when dividing the total physical resolution of the
encoder. The reason for the warning will be sent following the "WARNING:"
tag.
Parameters successfully
written!
If any variable was set, it is important to wait until the encoder displays this
message before the encoder can be turned off, otherwise the internal flash
might be damaged.
5 Using UDP transmission
After starting the batch file “UDP_10101010.bat”,
which will start a UDP client on the PC and
connect to the encoder, “run!” can be entered to
read out the position value. As UDP is not
connection oriented as TCP is, only the POLLED
mode is supported using UDP; encoder values
Version 03/09
18
cyclically send will not be received by UDP
clients.
The parameterization of the encoder can only be
changed by TCP-commands (see chapter 4). As
UDP is not connection orientated. The encoder
allows UDP-connections to port 5000 only.
Page
6 Technical Data
6.1 Electrical Data
Supply voltage
10 - 30 V DC (absolute limits)
Power consumption
max. 4 Watt
EMC
Emitted interference: EN 61000-6-4
Noise immunity:
EN 61000-6-2
Bus connection
Ethernet
Transmission rate
10/100 MBit
Accuracy of division
± ½ LSB (up to 12 Bit), ± 2 LSB (up to16 Bit)
Step frequency LSB
Max. 800kHz (valid code)
Cycle time
> 1 ms (Cyclic mode), > 5 ms (Change of state)
Electrical lifetime
> 105 h
Device addressing
Programmable IP-Address and Network parameters
6.2 Mechanical Data
Housing
Aluminum, optional stainless steel
Lifetime
Dependent on shaft version and shaft loading – refer to table
Max. shaft loading
Axial 40 N, radial 110 N
Inertia of rotor
≤ 30 gcm2
Friction torque
≤ 3 Ncm (without shaft sealing)
RPM (continuous operation)
max. 12,000 RPM
Shock (EN 60068-2-27)
≤ 30 g (half sine, 11 ms)
Permanent shock (EN 60028-2-29)
≤ 10 g (half sine, 16 ms)
Vibration (EN 60068-2-6)
≤ 10 g (10 Hz ... 1,000 Hz)
Weight (standard version)
Singleturn:
≈ 500 g
Multiturn:
≈ 700 g
Flange
Synchro (S)
Clamp (C)
Hollow shaft (B)
Shaft diameter
6 mm
10 mm
10 mm
15 mm
Shaft length
10 mm
20mm
20 mm
-
-
-
-
15 mm / 30 mm
hollow shaft depth min. / max.
Version 03/09
19
Page
6.3 Minimum (mechanical) lifetime
Lifetime in 108 revolutions with Fa / Fr
Flange
40 N / 60 N
40 N / 80 N
40 N / 110 N
C10 (Clamp flange 10 x 20)
247
104
40
S10 (Synchro flange 10 x 20)
262
110
42
S6 (Synchro flange 6 x 10) without shaft sealing
822
347
133
S6 (Synchro flange 6 x 10) with shaft sealing: max. 20 N axial, 80 N radial
6.4 Environmental Conditions
Operating temperature
0 .. +60°C
Storage temperature
- 40 .. + 85 °C
Humidity
98 % (without liquid state)
Protection class (EN 60529)
Casing side: IP 65
Shaft side: IP 64 (optional with shaft sealing: IP66)
Version 03/09
20
Page
7 Mechanical Drawings
7.1 Synchro Flange (S)
Available in 2 versions
Synchro flange
d / mm
l / mm
Version S06
6f6
10
Version S10
10h8
20
Single-Turn=77, Multi-Turn=88
35
3xM4x6
Ø59 (Ø61)*
Ø42
Ø60
68
Ø60
d
ø58
ø50 f7
0°
12
3x
23
l
* Edelstahl /
Stainless steel
3
3
24
40
4
7.2 Clamp Flange (F)
Single-Turn=77, Multi-Turn=88
30
35
3xM4x6
3x
3xM3x6
12
Ø4
8
15°
68
23
Ø60
Ø36 f7
Ø10 h8
Ø53
Ø58
1
Ø59 (Ø61)*
18
3x12
0°
0°
10
3
3
* Edelstahl /
Stainless steel
24
Version 03/09
21
Page
7.3 Hollow shaft (B)
Single-Turn=95, Multi-Turn=106
72
Ø63
35
3,3
20
Ø60
68
Ø60
F7
Ø15
23
20°
Ø59 (Ø61)*
1,3
Anlagekante
an Momentenstütze
Ø3,2
* Edelstahl /
Stainless steel
40
24
Max. W ** = 30
Min. W ** = 15
** Welleneinstecktiefe (hollow shaft depth)
Mounting instructions
The clamp ring should only be tightened after
the shaft of the driving element was inserted into
the hollow shaft.
The diameter of the hollow shaft can be reduced
to 14mm, 12 mm, 11 mm, 10 mm or 8 mm by
using an adapter (this reducing adapter can be
pushed into the hollow shaft).
Version 03/09
22
Maximum radial and axial misalignment of the
drive shaft::
axial
radial
static
± 0.3 mm
± 0.5 mm
dynamic
± 0.1 mm
± 0.2 mm
Page
8 Models / Ordering Description
Description
Type Key
Optocode
Interface
Version
Code
Revolutions (Bits)
ET
A1
SAGEthernet TCP/IP ET
2xM12
A1
Binary
Singleturn
Multiturn (4,096 revolutions)
Multiturn (16,384 revolutions)
8,192
65,536
Clamp flange, full shaft:
B-
Ø 10 mm
C10
Synchro flange, full shaft:
Ø 6 mm
Ø 10 mm
Ø 15 mm
S06
S10
B15
Steps per
revolution
Flange /
Shaft diameter
Blind hollow shaft, hollow shaft :
Mechanical
options
Connection
Without
Shaft sealing (IP66)
Customized
M12 connector
__
__-
___
_-
PRM
B
00
12
14
13
16
0
S
C
PRM
Standard = bold, further models on request
Version 03/09
Page 23
9 Accessories and Documentation
Description
Type
Male cable connector
M12, 4 pin, D-Coded
PAM4
Female cable connector
M12, 5 pin
PAM5
Coupling *
Drilling: Ø 10 mm
GS 10
Drilling: Ø 6 mm
GS 06
Clamp disc *
Set = 4 pcs.
SP 15
Clamp half-ring *
Set = 2 pcs.
SP H
Reducing adapter **
15 mm to 14 mm
RR14
15 mm to 12 mm
RR12
15 mm to 11 mm
RR11
15 mm to 10 mm
RR10
15 mm to 8 mm
RR8
User manual *
Installation / configuration manual, English UMD-ETA1
User manual *
Installation / configuration manual, German UME-ETA1
*
These can be downloaded free of charge from our homepage www.scancon.dk.
**
Usable only for full shaft
*** Usable only for hollow shaft, in stainless steel available too
We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject
to change without notice.
10 Glossary
Term
Explanation
10 Base T
Transmission line with 10 Mbit data transmission rate
100 Base T
Transmission line with 100 Mbit data transmission rate
ASCII
American Standard Code for Information Interchange
ASCII describes as code the correlation from digital integers to a normal
font described character.
Batch file
Script program for MS-DOS
Baudrate
Transmission rate; it display the transmission bits per second
Binary
Numeric system with value 0 or 1.
Browser
Software program to display HTML-Sides on different operating systems
(Linux, Unix, Windows, ...)
CAT5
Terminations for transmission rates up to 100 Mbit.
CRC
The cyclic redundancy check is a method from the information
technology to control a checksum for data, to reduce errors by the
transmission.
EMC
Electromagnetic compatibility, there are rules to verifying devices.
Ethernet
Ethernet is a computer network technology based on frames.
Fast Ethernet
Transmission technology with 100 Mbit transmission rate.
Version 03/09
Page 24
Term
Explanation
FCS-Bytes
The Frame Check Sequenz-Bytes are a 32 Bit CRC-Checksum.
Flash
Internal memory, saved data will be available after power down.
HTML
The Hypertext Markup Language is a document format used in the
World Wide Web to be displayed by a browser
HTTP
The Hypertext Transfer Protocol is a stateless transmission protocol for
data transmission.
Hub
The hub connects different network segments e.g. in an Ethernet
network.
IP-Adresse
IP-address allow a logic addressing from computer in a network.
IP-Protokoll
The Internet Protocol is widespread in computer networks. It is the
implementation of the internet layer of the TCP/IP-model
Mbit
Transmission rate or baud rate, million bits per second
SAG
Acronym: SAG, name of an encoder series manufactured by scancon
OSI-Modell
The Open System Interconnection reference model is a open layer
model for the organisation of a communication.
PPP-Packet
The Point-to-Point Protocol will be need for a connection establishment.
It enables the transmission between different network protocols.
SMTP
Simple Mail Transfer Protocol managed the transmission of e-mails.
Switch
A switch is an electronic device to connect computers e.g. network
segments in a local network. Unlike a hub, a switch uses stacks to avoid
network collisions.
TCP
The Transmission Control Protocol is
transmission protocol, in a network.
TCP-Client
MS-DOS program available from scancon to communicate with the
encoder.
UDP
User Datagram Protocol is utilized to send data that does not need to be
transferred in a reliable way.
Version 03/09
a connection orientated
Page 25
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertisement