TRD-GK Series
Rotary Encoder
PLC
HMI
SENSOR
ENCODER
COUNTER
INFORMATION
Rotary Encoder
Lineup
Selection Guide
TRD-GK Series
Features
φ78 Incremental Type
- A stronger spindle means high axial load (radial 100 N / thrust 50 N)
and a long service-life (bearing life 1.2 x 1010 turns).
- Dustproof and waterjet-proof type
- Totem-pole output that enables cable extension
- Installation using a servo mount convenient for origin adjustment is
possible.
■Model Number List
Type
Appearance
Incremental
Type
Absolute Type
Dustproof and
Waterjet-proof
Type
Type with
Cables Taken
Out from the
Back
Dustproof and
Waterjet-proof
Type
Connector
Type
TRD-GK
Model Number
Output
TRD-GK□-R
2-phase output
TRD-GK□-RZ
Output with 2-phase origin
)
(Origin direct action
TRD-GK□-RZL
Output with 2-phase origin
)
(Origin reverse action
TRD-GK□-BZ
Direction discrimination output
Output with origin (Origin direct action
TRD-GK□-RC2
2-phase output
TRD-GK□-RZC2
Output with 2-phase origin
)
(Origin direct action
TRD-GK□-RZC2L
Output with 2-phase origin
)
(Origin reverse action
TRD-GK□-BZC2
Direction discrimination output
Output with origin (Origin direct action
Pulse Number / Rotation
10, 12, 15, 50, 60
30, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600,
800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500, 3,600,
5,000
)
30, 60, 100, 120, 200, 240, 250, 300, 360, 400, 500,
600, 800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500,
3,000, 3,600, 4,000, 5,000
10, 12, 15, 50, 60
30, 100, 120, 200, 240, 250, 300, 360, 400, 500, 600,
800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500, 3,600,
5,000
)
30, 60, 100, 120, 200, 240, 250, 300, 360, 400, 500,
600, 800, 1,000, 1,200, 1500, 1,800, 2,000, 2,500,
3,000, 3,600, 4,000, 5,000
- RZ C2 L -
- Series classification
- Pulse number
TRD-MX
TRD-S/SH
TRD-2E
TRD-N/NH
- Signal format
R : 2-phase output
RZ : Output with 2-phase origin (Origin direct action)
BZ : Direction distinction circuit
- Connection form
Blank : Type with cables taken out from the back
C2 : Connector type
- Origin reverse action symbol
If the signal type is RZ, models with "L" produce
the origin reverse action.
- (Special specifications products)
TRD-J
TRD-GK
464
KOYO ELECTRONICS INDUSTRIES CO., LTD.
GENERAL CATALOG 2016
Latest catalog (free) is available online.
Visit our website ▼
http://www.koyoele.co.jp/english/
Rotary Encoder
TRD-GK Series
Specifications
Maximum Response
Frequency (kHz)*
10
12
15
30
50
60 100 120 200 240 250 300 360 400 500 600 800 1,000 1,200 1,500 1,800 2,000 2,500 3,000 3,600 4,000 5,000
0.83 1 1.25 2.5 4.17 5 8.33 10 16.7 20 20.8 25
TRD-GK□-R□
Applicable
TRD-GK□-RZ□
Models
TRD-GK□-BZ□
●
●
●
HMI
SENSOR
■Pulse and Frequencies
Pulse Number per Rotation
PLC
●
COUNTER
●
●
●
30 33.3 41.7 50 66.7 83.3 100 100 100 100 100 100 100 100 100
ENCODER
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
●
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INFORMATION
●
* The electric maximum response frequency is specified by resolution (pulse number) and the maximum number of revolutions.
Electrical maximum number of revolutions = {(Maximum response frequency/Resolution) x 60}
Therefore, if the encoder rotates at a speed greater than the electrical maximum number of revolutions, the signals do not electrically follow.
Rotary Encoder
Lineup
■Electrical Specifications
Model Number
Power Supply
Output
Waveform
TRD-GK□-R□/-RZ□ 10 to 30 V DC
10 to 30 V DC
Allowable Ripple
3% rms or less
3% rms or less
Incremental
Type
Consumption Current
(No Load)
Below 16 V DC: 50 mA or lower /
16 V DC or higher: 70 mA or lower
Below 16 V DC: 50 mA or lower /
16 V DC or higher: 70 mA or lower
Absolute Type
Signal Format
R: 2-phase output/RZ: 2-phase output + home position
Direction discrimination output + home position
Duty Ratio
50±25%
10 to 60% (2001P or more: 50±25%)
Signal Width at Home Position
400 P or lower : 25 to 150% / 500 P or higher: 1˚±30'*
(However, 1,800P, 3,600P, 5,000P: 50 to 150%)
400 P or lower : 25 to 150% / 500 P or higher: 1˚±30'
(However, 60P, 3,600P: 100 to 300% 1,800P: 50 to 150%)
Rise / Fall Time
Not larger than 3 μs
(Cable length 2 m or less, maximum load)
Not larger than 3 μs
(Cable length 2 m or less, maximum load)
Totem-pole output
Totem-pole output
Output Form
Output
Selection Guide
TRD-GK□-BZ□
Supply Voltage
Output
Current
Source "H"
Up to 30 mA
Up to 30 mA
Sink "L"
Up to 30 mA
Up to 30 mA
Output
Voltage
"H"
[(Supply Voltage) - 4 V] or more
[(Supply Voltage) - 4 V] or more
"L"
2 V or lower
2 V or lower
35 V DC or lower
35 V DC or lower
Load Supply Voltage
* There is no origin signal for the R type
■Mechanical Specifications
■Environmental Requirements
Starting Torque
0.1 N・m or less (+20˚C)
Use Ambient Temperature
-10 to +70˚C
Moment of Inertia
1 x 10 -5 kg・m2
Storage Ambient Temperature
-25 to +85˚C
Shaft Allowable Load
Radial: 100 N
Use Ambient Humidity
35 to 85% RH (No condensation)
Thrust: 50 N
Withstand Voltage
500 V AC 1 minute*
Insulation Resistance
50 MΩ or higher*
Vibration Resistance
(Endurance)
Displacement half amplitude:
500 P or less: 0.75 mm
600 P or more: 0.35 mm
Maximum Allowable Number of
5,000 rpm
Revolutions (Note 1)
Bearing Life
1.2 x 1010 rounds
(Calculated value at the maximum load)
Cable
Outside diameter φ6 mm
5-core shielded oil-resistant vinyl chloride cable
Core wire nominal cross-sectional area: 0.3 mm2
Weight
Type with cables taken out from the back:
Approx. 600 g or less (With 2 m cable)
Connector type: Approx. 500 g
TRD-MX
)
10 to 55 Hz 3 axial directions,
each 1 h
)
500 P or less: 980 m/s 2 11 ms Each 3 times in
Impact Resistance (Endurance)
600 P or more: 294 m/s2 11 ms 3 axial directions
Protective Structure
IP65 (Dustproof and waterjet-proof type)
* The power supply, signal lines, and shield between the cases are excluded.
TRD-S/SH
TRD-2E
TRD-N/NH
TRD-J
TRD-GK
Note 1: Maximum number of revolutions that can be mechanically endured
The specifications and prices described in this catalog were valid when the catalog was issued.
For the latest information, contact our sales persons or see our website.
KOYO ELECTRONICS INDUSTRIES CO., LTD.
GENERAL CATALOG 2016
465
Rotary Encoder
PLC
HMI
SENSOR
ENCODER
TRD-GK Series
Specifications
■Output Waveform
■Output Circuit
Totem-pole
《2-phase output type》
COUNTER
INFORMATION
OUT
OUT A
A
OUT B
B
OUT
OUT Z
Z
OUT
Rotary Encoder
Lineup
《2-phase output》
トーテムポール出力
Source: Up to 30 mA
OUT
Sink: Up to 30 mA
Counterclockwise
Counterclockwise
Rotation
Rotation
L
L
H
H
0V
二相出力形
The totem-pole
output supports both voltage output and
二相出力形
L
L
open collector output.
H
H
(RZ)
(RZ)
L
L
H
H
- When the signal source added to the counter input is
Sensor
a voltage output
Power
Supply
(RZL)
(RZL)
Power
Source
+
e
e
Connector
<Pin Assignment Figure>
Connector
3
<Pin Assignment
2 Figure>
4
Connector
3
<Pin Assignment
Figure>
6
5
1
** OUT
OUT Z
Z (origin
(origin output)
output) is
is generated
generated when
when passing
passing the
the origin
origin position
position
regardless of
of rotational
rotational direction.
direction.
regardless
** There
is
no
OUT
Z
for
the
R
type.
There is no OUT Z for the R type.
Note:
Note: Clockwise
Clockwise rotation
rotation when
when the
the main
main body
body is
is seen
seen from
from
the axle
axle side
side is
is the
the normal
normal rotation.
rotation.
the
Phase advancing
advancing of
of OUTA
OUTA and
and OUTB
OUTB differs
differs only
only for
for 3600th
3600th and
and
Phase
5000th
pulse.
5000th pulse.
OUT
IN
0V
0V
TRD-GK
2
3
6
2
4
5
Seen
from 1Wiring
4
* Figure
a, b,
b, c,
c, d
d=
= (1/4±1/8)
(1/4±1/8) P
P
a,
e: 400
400 pulses
pulses or
or less
less 25
25 to
to 150%
150%
e:
500
pulses
or
more
500 pulses or more 1°±30’
1°±30’
(At 1,800,
1,800, 3,600,
3,600, 5000
5000 pulses
pulses only:
only: 50
50 to
to 150%)
150%)
(At
Incremental
Type
Totem-pole
Power Supply 10 to 30 V DC
1P
1P
a
b c
c d
a b
d Clockwise
Clockwise
Rotation
Rotation
L
L
Selection Guide
Absolute Type
H
H
■Connection Diagram
Totem-pole
Side
(Back6 side)
5
1
* Figure Seen from Wiring Side
(Back side)
* Figure Seen from Wiring Side
(Back side)
1P
1P
OUT
Clockwise
Clockwise
Rotation
Rotation
Power
Source
0V
TRD-GK
CCW
CCW
方向判別出力形
方向判別出力形
OUT
OUT Z
Z
IN
0V
−
Counter
Connector
<Pin Assignment Figure>
Connector
3
<Pin Assignment
2 Figure>
4
Connector
3
<Pin Assignment
Figure>
6
5
1
a=
= (1/4±1/8)
(1/4±1/8) P
Pb
b≧
≧ 1/4
1/4 P
P
a
e: 400
400 pulses
pulses or
or less
less 25
25 to
to 150%
150%
e:
500
pulses
or
more
1°±30’
500 pulses or more 1°±30’
(At 60,
60, 3,600
3,600 P:
P: 100
100 to
to 300%,
300%, 1,800
1,800 P:
P: 50
50 to
to 150%)
150%)
(At
2
3
6
2
4
5
1
Seen from Wiring
4
* Figure
e
e
Side
(Back6 side)
5
1
* Figure Seen from Wiring Side
(Back side)
* Figure Seen from Wiring Side
(Back side)
TRD-2E
TRD-N/NH
Consumption Current (mA)
TRD-S/SH
BZ
R/RZ
50
Connector
<Pin Assignment Figure>
Connector
3
<Pin Assignment
2 Figure>
4
Connector
3
<Pin Assignment
Figure>
6
5
1
2
4
4
30 V
TRD-J
6:
Shield
5: 0
V
6: Shield
KOYO ELECTRONICS INDUSTRIES CO., LTD.
GENERAL CATALOG 2016
TRD-
TRD-
Pin Code
2: OUT B
1: OUT A
Pin Code
3: OUT Z
2:
B
1: OUT A
4: Power Supply
3:
Z
2: OUT B
5: 0 V
4:
3: Power
OUT Z Supply
6: Shield
5:
0V
4: Power
Supply
6:
Shield
5: 0
V
6: Shield
3
6
2
5
* Figure Seen
from 1Wiring Side
(Back6 side)
5
1
* Figure Seen from Wiring Side
(Back side)
* Figure Seen from Wiring Side
(Back side)
Shield : G
Black
0 V(Ground)
Pin Code
Shield
1:
CW : G (Ground)
Pin Code
2: CCW
1: CW
Pin Code
3: OUT Z
2:
CCW
1: CW
4: Power Supply
3:
OUT Z
2: CCW
5: 0 V
4:
3: Power
OUT Z Supply
6: Shield
5:
0V
4: Power
Supply
6:
Shield
5: 0
V
6: Shield
TRD-GK
466
TRD-
Shield
Black : G
0 V(Ground)
Pin Code
Shield
G (Ground)
1:
OUT: A
White : CCW
Green : CW
(Clockwise Rotation)
(Counterclockwise
Rotation)
Yellow: OUT
CCWZ
White : CW
Green
(Clockwise Rotation)
(Counterclockwise Rotation)
Red : Power Supply
Yellow: CCW
OUT Z
White
(Counterclockwise Rotation)
Black : 0 V
Red : OUT
PowerZ Supply
Yellow
Shield : G (Ground)
Black : Power
0V
Red
Supply
40
10
20
Supply Voltage
Pin Code
2: OUT B
1: OUT A
Pin Code
3: (Not Connected)
2:
B
1: OUT A
4: Power Supply
3:
(Not Connected)
2: OUT
B
5: 0 V
4:
Supply
3: Power
(Not Connected)
6: Shield
5:
0V
4: Power
Supply
Green : CW (Clockwise Rotation)
■Electrical Characteristics (Typical)
60
TRD-
《Direction discrimination output》
** OUT
OUT Z
Z (origin
(origin output)
output) is
is generated
generated when
when passing
passing the
the origin
origin position
position regardless
regardless of
of
rotational direction.
direction.
rotational
TRD-MX
TRD-
Shield
Black : G
0 V(Ground)
Pin Code
Shield
G (Ground)
1:
OUT: A
White : OUT B
Green : OUT A
Yellow: OUT Z
White
Green : OUT B
A
Red : Power Supply
Yellow
Z
White : OUT B
Black : 0 V
Red
Yellow: Power
OUT Z Supply
Shield : G (Ground)
Black
V
Red : 0
Power
Supply
+
Counterclockwise
b Counterclockwise
b
Rotation
Rotation
CW
CW
TRD-
《Output with 2-phase origin》 Green : OUT A
Counter
《Direction discrimination output type》
a
a
White : OUT B
Green : OUT A
Yellow: (Not Connected)
White
Green : OUT B
A
Red : Power Supply
Yellow
(Not Connected)
White : OUT
B
Black : 0 V
Red
Supply
Yellow: Power
(Not Connected)
Shield : G (Ground)
Black
V
Red : 0
Power
Supply
−
- When the signal source added to the counter input is
an open collector output
Sensor
Power
Supply
Green : OUT A
Latest catalog (free) is available online.
Visit our website ▼
http://www.koyoele.co.jp/english/
TRD-
TRD-
TRD-
Oil-proof Shielded Cable
(Standard Length: 2 m)
1
Dimensions
型番:TRD-GKケーブル後出形
Scale=1/1
20
φ42
Rotary Encoder
TRD-GK Series
0
φ10 -0.015
φ72
φ56 -0.010
-0.029
φ78
φ6
6
TRD-GK シリーズ図面
Oil-proof Shielded Cable
(Standard Length: 2 m)
1
20
φ6
6
5
15
■Dimensions (Unit: mm)
Type with Cables Taken Out from the Back
33
60
10
4-M4×0.7 Screw Holes
Depth 12
15
HMI
SENSOR
ENCODER
25 or less
3
5
φ6
6
90°
3
PLC
COUNTER
型番:TRD-GKケー
ブル後出形
Scale=1/1
Oil-proof Shielded Cable
(Standard Length: 2 m)
1
1
33
10
4-M4×0.7 Screw Holes
Depth 12
90°
Up to 13
Rotary Encoder
60
3
3
Lineup
型番:TRD-GKケー
ブル後出形
Scale=1/1
20
φ42
0
φ10 -0.015
φ56 -0.010
-0.029
φ72
φ78
INFORMATION
Selection Guide
5
15
1
Incremental
Type
Up to 13
60
10
3
Absolute Type
Oil-proof Shielded Cable
(Standard Length: 2 m)
3
5
1
15
1
20
φ42
φ72
φ56 -0.010
-0.029
φ78
90°
0
φ10 -0.015
φ6
6
33
4-M4×0.7 Screw Holes
Depth 12
Connector Type
60
10
3
型番:TRD-GKケーブル後出形
Scale=1/1
Model numbers of connectors
(Option)
3
5
15
- Straight: BMCC-6
- Angular: BAFC-6
20
φ42
1
33
0
φ10 -0.015
φ6
6
φ72
φ78
4-M4×0.7 Screw Holes
Depth 12
90°
φ56 -0.010
-0.029
Up to 13
(C2 type)
1
20
φ42
1
型番:TRD-GKコネクタ形(C2タイプ)
Scale=1/1
0
φ10 -0.015
φ72
φ56 -0.010
-0.029
φ78
φ6
6
* For details, see the page on options.
型番:TRD-GKコネクタ形(C2タイプ)
Scale=1/1
Up to 13
33
60
10
4-M4×0.7 Screw Holes
Depth 12
3
3
TRD-MX
5
φ6
6
90°
120°
15
1
TRD-S/SH
Mounting Panel
TRD-2E
+0.12
0
1
φ42
φ72
型番:TRD-GKコネクタ形(C2タイプ)
TRD-N/NH
Scale=1/1
φ90
TRD-J
Mounting Panel
Servo Mount Metal Fixture KM-9
(Option)
Servo mount metal fixture KM-9
(Option)
20
φ56
0
φ10 -0.015
Hole
φ78
120°
φ56 -0.010
-0.029
Servo Mount Metal Mounting State Diagram
5.1
+0.12
0
Servo Mount Metal Fixture KM-9
(Option)
2
φ56
120° φ90
Mounting Panel
9
18
φ6
6
15
Hole
TRD-GK
C2
Mounting Screws (3-M5×0.8)
3-M5×0.8 Screw Holes
Hole φ5.5
5.1
15
型番:TRD-GKコネクタ形(C2タイプ)
Scale=1/1
9
18
2
Mounting Bracket
Servo Mount Metal Fixture KM-9
(Option)
C2
Hole φ5.5
φ90
3-M5×0.8 Screw Holes
Mounting Screws (3-M5×0.8)
Mounting Bracket
The specifications and prices
120° described in this catalog were valid when the catalog was issued.
For the latest information, contact our sales persons or see our website.
Mounting Panel
型番:TRD-GKサーボマウント金具使用状態図
15
Scale=1/1
KOYO ELECTRONICS INDUSTRIES CO., LTD.
GENERAL CATALOG 2016
5.1
2
+0.12
0
18
φ56
9
Hole
467
型番:TRD-GKサーボマウント金具使用状態図
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