Encoder - Bearings Hybrid Step.pdf · Outline Specifications Hybrid Encoder ˝ L ˝ Step Accuracy:...

Outline

Specifications

Hybrid

Encoder

˝ L ˝

Step Accuracy: ±5%

Temperature Rise: 80M AX

Ambient Temperature Range: -10 ～+50Insulation Resistance: 100MΩ MIN．D C500V

Dielectric Strength: AC500V 1min

Radial Play: 20µm MAX．(at 4.4N｛450gf｝[Load])

End Play: 80µm MAX．(at 4.4N｛450gf｝[Load])

General Specifications

*Drive Sequence: Unipolar*Leadwires are supplied with the motor

L/W COLOR PARAMETER PIN NO.

BLKGROUND 1

BRN

BLUCH. I 2

RED

WHT CH. A 3

4

5

Vcc

CH. B

A23KMK561.8

1.8

18.330

1.59 4.76

56.4THROUGH

20±0.5

15±0.25

47.14±0.2

56.4

(7.7

)

47.1

4±0.

2

L MAX

4-Ø4.5 0

+0.5

20.5

LEAD WIRE SIDE-HSG : XHP-6-PIN : SXH-001T-P0.6

MAKER : JSTS6B-XH-A-1

Ø0.05

0.025

A

A

Ø6.

350 –0.0

13

Ø38

.1±0

.05

5.8±

0.15

300M

IN

300M

IN

4.0

7.7

11.5

6

9

4.7

UL1007AWG#24UL1007

AWG#22

MAKER : MOLEXHSG : 22-01-2057PIN : 08-50-0113

MAKER : AVAGOP/NO. : HEDS-5640-H06

ENCODER

26.2

R15

R23

NAME PLATE

A23KMK2

A23KMK0

42 (1.65)

54 (2.13)

A23KMK7 76 (2.99)

Step AngleModel

（ mNm） （ Ohms） （ A） （ deg）

Rated Current Resistance Holding Torque Inductance

（ mH）

Rotor Inertia

（ g・ cm2）

Mass

（ g）

Dentent Torque

（ mNm）

A23KMK267-00V

A23KMK251-00V

A23KMK244-00V

A23KMK066-00V

A23KMK049-00V

A23KMK044-00V

A23KMK762-00V

A23KMK748-00V

A23KMK743-00V

Motor Size

（ mm）

56 x 42

56 x 42

56 x 42

56 x 54

56 x 54

56 x 54

56 x 76

56 x 76

56 x 76

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1

3

1

2

3

2.9

0.9

2

5.8

1.5

0.6

7

1.8

0.85

8.6

2.3

1.1

480

480

480

760

760

760

1400

1400

1400

8.2

2.4

0.9

15.1

3.6

1.8

17.3

5.0

2.2

120

120

120

200

200

200

360

360

360

20

20

20

34

34

34

50

50

50

490

490

490

700

700

700

1070

1070

1070

Specifications

UNI POLAR Wiring Diagram BI POLAR Wiring Diagram

A(Red)

A COM(Black)

B(Blue)

B COM(White)

B (Orange)

A (Yellow)

A(Red)

A COM(Black)

A (Yellow)

B(Blue)

B COM(White)

B (Orange)

* Do not connect A COM and B COM. Please insulate individually. * Apply 70% of Unipolar rated current.

Encoder SpecificationsNote: Use the motor within the encoder specifications.Encoder by Avago Technologies Limited: For frame size 42 mm (17PM), HEDS- 5540-H 14 is used. Encoders are 3 channel and 400 CPR.

Max. Min.Symbol Parameter

7 -0.5Vcc Supply Voltage (V)

Vcc -0.5Vo Output Voltage (V)

5 -1.0lout Output Current Per Channel

1000 5- Vibration (Hz)

30000 -- Velocity (rpm)

Absolute Maximum Ratings

Acceleration (rad/sec2)

Notes

- - 250000

-

-

-

20g

-

-

Max. Typ. **Min. Symbol Description

45 5- Pulse Width Error (oe)

35 5- Logic State Width Error (oe)

15 2- Phase Error (oe)

40 10- Position Error (arc min.)

5.5 3- Cycle Error (oe)

125 9055 Index Pulse Width (oe)

250 100-300

1000 CH.I fall after CH.A or CH.B rise

(ns) [-40o ~ +100 oC]

CH.I rise after CH.A or CH.B fall

(ns) [-40o ~ +100 oC]

15070

P

S

Ø

ɵ

C

Po

t1

t2

Encoder Characteristics*

*The following characteristics assume that the encoder is operated under the recommended operating conditions. Each characteristic value indicates the value within one rotation of the code wheel.

**Typical values specified at Vcc = 5.0 V and 25 oC

−2.4V

CP

−0.4VCH.A

−2.4V−0.4V

CH.B

−2.4V−0.4V

CH.I

ØS1

AMPLITUDE

ROTATION

S2 S3

t1t2

S4

Po

Output Waveforms

Pull-Up of Encoder Output

To output logic（TTL load）

RR R

R = 2.7k

5Vcc

+5V

GND

CH.

CH.CH.

B

AI

4321

Capacitor

Electrical InterfaceIt is recommended that the CH.A, CH.B and CH.I outputs be pulled up with a resistor of 2.7kΩ(±10%) in order to shorten the rise time of the output pulse. To reduce electrical noise it is recommended that a capacitor be added across Vcc-GND.For best results the capacitor should be placed as close to Vcc as possible. The capacitor's value should be adjusted to determine an acceptable level of noise.

Encoder Specifications

Max.

5.5

100

100

Recommended Operating Conditions

NotesTyp. Min.Symbol Parameter

Ripple < 100mVp-p5.0 4.5Vcc Supply Voltage (V)

2.7kΩ pull-up- -CL Load Capacitance (pF)

Velocity (rpm) x (N/60)- -f Count Frequency (kHZ)

The encoder specifications are designed to guarantee operation based on a response frequency of 100kHZ

Recommended Connector

Part Number Manufacturer

2695 series (housing) 0022012051 (5pin)/0022012057 (5pin/lock type) 2759 series (pins) 0008500113

Molex

30

Notes Typ.** Min.SymbolParameter

57 lccSupply Current (mA)

IOH = -200μA max 2.4 VOHHigh Level Output Voltage (V)

IOL = 3.86 mA - VOLLow Level Output Voltage (V)

CL = 25 pF - trRise Time (ns)

RL = 2.7kΩ - tfFall Time (ns)

0.4

-

-

-

Max.

85

-

-

180

40

Electrical Characteristics*

*Electrical characteristic over recommended operating range**Typical Values specified at Vcc = 5.0V and 25oC

Torque/Speed Characteristics

0100

100 200 300 400 500 1000 2000 3000

1000 10000

200

400

600

800

1000

1200

1400

Speed (r/min)

FREQUENCY (Hz)

TORQ

UE

(mN

m)

Model No : 23KM-K267,K251,K244,K066,K049,K044,K762,K748,K743Driver : Chopper DualSupply Voltage : 24 V (DC)

K743-3.0A

K748-2.0A

K044-3.0A

K762-1.0A

K049-2.0A

K066-1.0A

K244-2.9A

K251-1.8A

K267-0.9A

Definition of Key Terms

CPR: Count Per Revolution. Resolution for rotary type encoder. Number of pulses for one revolution.

One Cycle: 360 electrical degrees (Oe) , 1 bar and window pair.

One Shaft Rotation: 360 mechanical degrees, N cycles. One rotation of the codewheel.

Position Error (Δθ) : The normalized angular difference between the actual shaft position and the position indicated by the encoder cycle count.

Cycle Error (ΔC): An indication of cycle uniformity. The difference between an observed shaft angle which gives rise to one electrical cycle, and nominal angular increment of 1/N of a revolution.

Pulse Width (P): The number of electrical degrees that an output is high during 1 cycle. This value is nominally 180Oe of 1/2 cycle.

Pulse Width Error (ΔP): The deviation, in electrical degrees, of the pulse width from its ideal value of 180Oe.

Logic State Width (S1～ S4): The number of electrical degrees between a transition in the output of channel A and the neighboring transition in the output of channel B. There are 4 states per cycle, each nominally 90Oe.

Logic State Width Error (ΔS): The deviation, in electrical degrees, of each state width from its ideal value of 90Oe.

Phase (Ø): The number of electrical degrees between the center of the high state of channel A and the center of the high state of channel B. This value is nominally 90Oe for quadrate output.

Phase Error (ΔØ): The deviation of the phase from its ideal value of 90Oe.

Direction of Rotation: When the codewheel rotates in the counterclockwise direction (as viewed from the encoder end of the motor), channel A will lead channel B. If the codewheel rotates in the clockwise direction, channel B will lead channel A.

Index Pulse Width (Po): The number of electrical degrees that an index output is high during one full shaft rotation. This value is nominally 90Oe or 1/4 cycle.