High resolution bsolute single-turn rotar encoder Date: 03 ... · Date: 03.04.2018 Page 4 of 16...
Transcript of High resolution bsolute single-turn rotar encoder Date: 03 ... · Date: 03.04.2018 Page 4 of 16...
TWK-ELEKTRONIK GmbH D-40041 Düsseldorf Tel. +49 211 96117-0 [email protected] 85 Postbox 10 50 63 Fax +49 211 637705 www.twk.de
High resolutionAbsolute single-turn rotary encoder Model HBN
Document no.: HBN 13218 GEDate: 03.04.2018
Robust design for rough applications with high resolution requirement such as crane technology, construction machines and special engineering
High vibration and shock resistance thanks to the compact mechanical design
Resolution < 22 bit / 360°
Speed signal in digits/ms with variable gate time
Protection type IP 66
Design- Robust housing (wall thickness 5 mm) manufactured from
seawater-proof aluminium (AlMgSi1) or stainless steel (material: 1.4305 optionally 1.4404).
- Position recording and evaluation are of a redundant design to implement a reliable position value and speed signal.
- Anetworkin/outmodulewithtransientfiltering,voltagesupply and output driver unit forms the electrical interface.
- ElectricalconnectionviatwoM12connectors,5-pin,pinand socket for bus IN / bus OUT.
FunctionA correct mechanical connection between the customer and sensor shaft ensures that the sensor precisely detects the customer shaft's rotations. A safe position is provided by the plausibility check of two sensor systems. Detected errors are evaluated.The CAN interface outputs the validated position value and speed signal via the CANopen Safety protocol within an SRDO (Safety Relevant Data Object) using 2x2 messages (normal and inverted).The rotary encoder meets the conditions of safety level SIL2 according to IEC 61508 and performance level "d" according to EN13849. The prerequisite of safety-relevant operation is a failsafe master.
Date: 03.04.2018 Page 2 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Technical data
Electrical dataOperating voltage: 9 to 36 VDC (protected against polarity reversal)Power consumption: < 1.8 WResolution: 16bit(forhigherresolution,pleasecontactourtechnicalstaff)Code direction: CW* or CCW** can be setReference value: 0 to (total number of steps -1)Accuracy: ≤± 0.05 % (with reference to 360°)Reproducibility: ≤± 0.01 % (with reference to 360°)Temperature drift: < 0.1 % (with reference to 360° over the entire temperature range)CAN IC voltage rating: Maximum common mode votage -7 to +12 V Maximum allowed voltage at pins ±36 V
Electrical output dataCAN interface: According to ISO/DIS 11898Address setting: Via LSS or object 2000Terminating resistor: To be implemented separatelyOutput code: BinarySpeed: Digits/gatetime(gatetimecanbesetinthe1...1000msrange,default:100ms)*** Speedresolutionisfixat16bit/revolution
Mechanical dataOperating speed: 500 rpmAngular acceleration: 105 rad/s² max.Moment of inertia (rotor): 20 gcm²Operatingtorque: ≤2NcmStartingtorque: ≤3NcmPerm.shaftload: 250Naxially,250NradiallyBearingservicelife: ≥109 revolutions ****Weight: Aluminiumhousingapprox.0.4kg, stainless steel housing approx. 0.6 kg
Environmental dataOperating temperature range: - 40 °C to + 85 °CStorage temperature range: - 40 °C to + 100 °C (without packaging)Resistance □To shock: 250 m/s²; 6 ms DIN EN 60068-2-27 □To vibration: 200 m/s²;10 Hz ... 2000 Hz DIN EN 60068-2-6EMC standards: DIN EN 61 000 - 6 - 2 Immission (burst/ESD/etc.) DIN EN 61 000 - 6 - 4 EmissionProtection class (DIN EN 60529): IP 66 (forhigherprotectionclass,pleasecontactourtechnicalstaff)
*) CW = increasing signal clockwise viewed looking towards the shaft**) CCW = increasing signal counter-clockwise viewed looking towards the shaft***) Ifgreatergatetimesarerequired,pleasecontactourtechnicalstaff.****) This value applies at maximum shaft load.
Date: 03.04.2018 Page 3 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Technical data
Principle circuit diagram
Controller
Digitalisolator
CANdriver
DC
DC
CAN + CAN - CAN-GND +U -UB B
Bus in
Voltage monitoring
Bus out
Sensor systems
Switchingpowersupply
EMC-filter
Gal
vani
c se
para
tion
GND+5 Vs
System in general and Safety Slew rate power supply: 500 ms (10 % bis 90 %) Rate of messages: up to 1000 messages / s Time of storage cycles: 3 s per storage cycle Setup Time: 2 s
Time between error recognition and alarm (emergency message): 100 ms (power supply)
5s(RAMtest,singlebiterror) 2 s (ROM test during setup time) Safety data: MTTF > 100 a Safety-norms: EN61508,1to7:2010 EN 62061: 2005 EN ISO 13849-1: 2008 EN 60947-5-1: 2004 + A1: 2009
Date: 03.04.2018 Page 4 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Interface according to the following specificationsCiADS301 CANopenApplicationLayerandCommunicationProfile,Version4.1
EN 50325-5 (CIADS304) CANopenFrameworkforsafety-relevantcommunication,Version1.0.1
CiA DS305 CANopen - Layer Setting Services and Protocol (LSS)
CiADS406 CANopen-DeviceProfileforEncoders,Version4.0.1
IEC 61508 Functional safety of safety-related electrical/programmable electronic systems.
SupplysourceforthelistedCANopenspecifications:CANinAutomation(CiA),Kontumazgarten3,D-90429Nürnberg,(E-mail:[email protected],www.can-cia.org)TheprofileisdescribedindetailintheNOC13100 user manual.
CANopen features
NMT master: No NMT slave: Yes Maximum boot up: No Minimum boot up: Yes COBIDdistribution: Default,SDO Node ID distribution: Via Index 2000 or LSS No of SRDO Position: 1 Tx No of SRDO Velocity: 1 Tx SRDO mode: Cyclic Variables SRDO mapping: No Emergency message: Yes Heartbeat: Yes No. of SDOs: 1 Rx/1 Tx
Date: 03.04.2018 Page 5 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Bus termination, output level
Output level according to ISO/DIS 11898
t
3,5CAN_H
CAN_L
2,5
1,5
Recessive Dominant Recessive
1) With common mode voltage = 0 V
Bus
leve
l / V
1)
5
1
2
3
4
0
Bus termination according to ISO / DIS 11898
* *
CAN_H
CAN_L
CAN_H
CAN_L
CAN-Bus
TWK-CANopen
Sub
scrib
er
Termination resistance (120 )*
Furth
erC
AN
open
Sub
scrib
er
Date: 03.04.2018 Page 6 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310
data positionsLSB MSB
Data Byte 0 Data Byte 1 Data Byte 2 Data Byte 3
0 0 0 0 0 0 0 0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310
data positions invertedLSB MSB
Data Byte 0 Data Byte 1 Data Byte 2 Data Byte 3
1 1 1 1 1 1 1 1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 150
LSB
Data Byte 0 Data Byte 1
velocity valueMSB
SRDO 2
SRDO 1
1 2 3 4 5 6 7 8 9 10 11 12 13 14 150
LSB
Data Byte 0 Data Byte 1
velocity value invertedMSB
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310
data positionsLSB MSB
Data Byte 0 Data Byte 1 Data Byte 2 Data Byte 3
0 0 0 0 0 0 0 0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310
data positionsLSB MSB
Data Byte 0 Data Byte 1 Data Byte 2 Data Byte 3
PDO 1
PDO 2
0 0 0 0 0 0 0 0
SRDO data format for HBN/S3 (safety version)
SRDO data format , PDO data format
PDO data format for HBN/C3
Date: 03.04.2018 Page 7 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Electrical connection TworoundconnectorsM12x1,pinandsocketforbusIN/OUT,5-pin,A-coded Refer to the tables below for the connection assignments; these are also enclosed with the devices.
Electrical connections, mating connector
Mating connectors (to be ordered separately)AllofthematingconnectorslistedinthefollowingtableareM12X1,5-pin,A-coded,withscrewclampconnection,withpro-tectiontypeIP67,withscreeningonthehousingandthemaximumconnectioncross-sectionis0.75mm².
Order number Contact design Connector design Housing material Cable Ø (mm)STK5GS56 Socket Straight Nickel-plated brass 4 - 6STK5GP90 Pin Straight Nickel-plated brass 4 - 6STK5WS58 Socket Angled Nickel-plated brass 4 - 6STK5WP102 Pin Angled Nickel-plated brass 4 - 6STK5GS107 Socket Straight Stainless steel 5.5 – 8.6STK5GP106 Pin Straight Stainless steel 5.5 – 8.6
Pleasenote:ifangledmatingconnectorsareused,pleasenotifyussothatthedeviceconnectorscanbealignedaccordingly.
Date: 03.04.2018 Page 8 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Note: This is the contact assignment for the standard version. Other versions may have a different contact assignment. In this case,pleaseobserveconnectionassignmentTYenclosedwitheachdevice.
Different M12 connector combinations or assignments are possible at the request of the customer.
For the following description and pictorials is valid: Viewed looking at the PIN side of the connector installed in the HBN.
ThereisoneconnectorforBus-InandBus-OuteachfortheHBN.IfthereisonlyBus-In,thefemaleconnectorBus-Outisomitted.
Important:TherecommendedversionisV1withfullgalvanicseparation.ThisoffersmaximumEMCresistance,maximumCANopen data transfer security and thus maximum operating safety. Versions V2 and V3 are special versions which must be compatible with the structure (topology) of the CANopen bus system inthecustomerapplication(→controlsystemandotherCANopensubscribers).Operatingsafetyordatatransfersecuritymay otherwise be affected.
PIN Function1 CAN GND2 Operating voltage + UB
3 Operating voltage - UB
4 CAN_H5 CAN_Lfemale
12
34 5
PIN Function1 Screen (Cable / housing)2 Operating voltage + UB
3 Operating voltage - UB andCAN_GND4 CAN_H5 CAN_L
Connector S1 and S2 contact assignment for standard version
Version 1: CAN_GND and UB galvanically separated. Screening/housing galvanically separated
Version 2: CAN_GND and UB not galvanically separated. Screening/housing galvanically separated
Version 3: CAN_GND and UB not galvanically separated. Screening/housing not galvanically separated
male
Thisversionprovidescompletegalvanicseparation.PowersupplyandCAN_GNDisgalvanicallyseparated.Thehousingandthe screening of the cable is galvanically separated as well. The screening of the cable comes to the housing of the HBN via the housing of the mating plug.
Thisversionprovidespartlygalvanicseparation.PowersupplyandCAN_GNDarenot galvanically separated. The housing and thescreeningofthecablearegalvanicallyseparatedfrompowersupplyandCAN_GND.Thescreeningofthecablecomesto the housing of the HBN via the housing of the mating plug and/or Pin 1 of the connector. Please note the maximum voltage rating of the CAN interface IC on page 2.
female
12
34 5
male
This version provides no galvanic separation. PowersupplyandCAN_GNDarenot galvanically separated. The housing and the screening of the cable are notgalvanicallyseparatedfrompowersupplyandCAN_GND.Thescreeningofthecablecomesto the housing of the HBN via the housing of the mating plug and/or Pin 1 of the connector. Please note the maximum voltage rating of the CAN interface IC on page 2.
PIN Function
1 Screen (Cable / housing)- shorted to pin 3 -
2 Operating voltage + UB
3 Operating voltage - UB andCAN_GND- shorted to pin 1 -
4 CAN_H5 CAN_L
12
34 5
malefemale
1
4
23 5
1
4
23 5
1
4
23 5
Date: 03.04.2018 Page 9 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Order number, Accessories
*) Thebasicversions(standard)accordingtothedatasheetbearthenumber01.Deviationsareidentifiedwithavariant number and are documented in the factory.
HBN 58 K A 65,536 R S3 S V1 N 01
01Electrical and mechanical variants *Standard
NOutput: CANopen
V1V2V3
Galvanic sepration (≠). See page 8:-VS ≠CAN_GND≠ screening/housing (recommended version)-VS =CAN_GND≠ screening/housing-VS =CAN_GND= screening/housing
SKx
Electrical connection:M12 connector (bus in/bus out)Cable,x=lengthinm
C3S3
Profile:CANopenaccordingtoCIA,DS406revision4.0.1CANopen Safety SIL2
RCode:Binary
Resolution:
steps / 360°1 to 4,063,232
AS
Housing material:AluminiumStainless steel
58 KKFKPKZSTSRSN
Flange type: Clampedflange,shaft10mmwithflattenedareaClampedflange,shaft10mmwithwoodruffkeyClampedflange,shaft10mmwithfeatherkeyClampedflange,shaftforplaycompensatingtoothedgearZRS(toothedgear,seeaccessories)Synchroflange,shaft6mmwithflattenedareaSynchroflange,clampedshaftfor12mm(torquesupport,seeaccessories)Synchroflange,clampedshaftfor12mmwithgrooveforfeatherkey(torquesupport,seeaccessories)
Design formModel: High resolution singleturn encoderHBN
-
Accessories (to be ordered separately) Fastening clamps for sensor assembly KL 66-2-S See data sheet MZ10111
Play-free clamping coupling for shaft connection KK14N WithgrooveforfeatherkeyaccordingtoDIN6885sheet1–JS9,seedatasheetKK12301
Toothed gear ZRS Play compensating toothed gear ZRS11877
Torque support/stator coupling for shaft offset compensation between the rotary encoder and drive ZMS58 Manufacturedfrompermanentlyelasticplastic,seedatasheetZMS12939
Please refer to the table on page 6 for the mating connector order numbers.
Reference: EDS-file,datasheet,manualanddrawingsareavailableonwww.twk.de
Date: 03.04.2018 Page 10 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
36
72 ±0.5
48 ±0.1
120°
M4x9
NILOS ring
10
10f7
ø36
f7ø58
-0.1
ø
30 ±0.5
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
62ca.34
ca.
9-0
.1
53-0
.1ø
Dimensions in mm
Standard design form: clampedflange,shaft10mmwithflattenedarea
Order number: HBN58 - KA 65,536 R S3 S N01
Installation drawing
Date: 03.04.2018 Page 11 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
36
72 ±0.5
48 ±0.1
120°
M4x9
NILOS ring
10
10f7
ø36
f7ø58
-0.1
ø
30 ±0.5
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
62ca.34
ca.
ADetail A
2 : 1
Groove forwoodruff keyDIN 6888-3x5
3 P9
10
53-0
.1ø
Dimensions in mm
Further possible design form: clampedflange,shaft10mmwithwoodruffkey
Order number: HBN58 - KFA 65,536 R S3 S N01
Installation drawing
Date: 03.04.2018 Page 12 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
Installation drawing
Dimensions in mm
Further possible design form: clampedflange,shaft10mmwithfeatherkey
Order number: HBN58 - KPA 65,536 R S3 S N01
36
72 ±0.5
48 ±0.1
120°
M4x9
NILOS ring
10
10f7
ø36
f7ø58
-0.1
ø
A
Detail A2 : 1
Groove forfeather keyDIN 6885 A 3x3x10
30 ±0.5
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
62ca.34
ca.
53-0
.1ø
3 N9
10+0
.2
8
Date: 03.04.2018 Page 13 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
36
72 ±0.5
48 ±0.1
120°
M4x9
NILOS ring
10
36f7
ø58-0
.1ø
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
62ca.34
ca.
36 ±0.517
ø11-0
.1
12 f6ø10,4 -0.1ø
53-0
.1ø
Dimensions in mm
Further possible design form: clampedflange,shaftforplaycompensatingtoothedgearZRS (toothedgear,seeaccessories)
Order number: HBN58 - KZA 65,536 R S3 S N01
Installation drawing
Date: 03.04.2018 Page 14 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
42 ±0.1
120°
NILOS ring
50f7
ø
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
72ca.34
ca.
5.5
-0.1
58-0
.1ø
14 ±0.5 78 ±0.5
63
4
6 f7ø
53-0
.1ø
M4x9
Dimensions in mm
Further possible design form: synchroflange,shaft6mmwithflattenedarea
Order number: HBN58 - STA 65,536 R S3 S N01
Installation drawing
Date: 03.04.2018 Page 15 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
42 ±0.1
120°
NILOS ring
50f7
ø
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
72ca.
34ca
.
58-0
.1ø
78 ±0.5
63
4
53-0
.1ø
18.5 ±0.5
Clamping shaftDi = 12 H7
Insertion depth: 16 mm
17ø15 h7ø
8
30
Clamping ring (Aluminium)
15
M4x9
Dimensions in mm
Further possible design form: synchroflange,clampedshaftfor12mm(torquesupport,seeaccessories)
Order number: HBN58 - SRA 65,536 R S3 S N01
Installation drawing
Date: 03.04.2018 Page 16 of 16 Document no. HBN 13218 GE
Absolute single-turn rotary encoder with high resolutionModel HBN
42 ±0.1
120°
NILOS ring
50f7
ø
Coding pin
Bus InSensor connector M125-polepins,A-codedaligned
Coding groove
Bus OutSensor connector M125-polesocket,A-codedaligned
72ca.34
ca.
58-0
.1ø
78 ±0.5
63
4
53-0
.1ø
18.5 ±0.5
Clamping shaftDi = 12 H7
Inserting depth: 16 mm
17ø16 h7ø
816
30
Clamping ring (Aluminium)
A
Detail A2 : 1
1x groove forfeather key
4x4xXX4 H7
9.5
M4x9
Dimensions in mm
Further possible design form: synchroflange,clampedshaftfor12mmwithgrooveforfeatherkey (torquesupport,seeaccessories)
Order number: HBN58 - SNA 65,536 R S3 S N01
Installation drawing