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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.