FACTORY AUTOMATION and fu… · Incremental Encoders In automation, rotary encoders are used as sensors for angle, position, speed and acceleration. By the use of spindles, gear racks,

Overview

Rotary EncodersFA

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NEdition 2004

■ Eccentric clamping elements

■ Mounting brackets■ Mounting bell

■ Spring steel coupling■ Spring disc coupling■ Bellows coupling■ Precision coupling■ Helical coupling

■ Circumference 200 mm■ Circumference 500 mm■ Plastic■ Pimpled rubber■ Knurled aluminium■ Knurled plastic

■ Amphenol■ Coninvers■ SUB-D■ Souriau■ Binder

■ Measuring range 2,000 mm■ Measuring range 3,000 mm■ Measuring range 5,000 mm■ Measuring range 8,000 mm■ Measuring range 15,000 mm

■ Counters

Mounting aidsMounting aids

CouplingCoupling

Measuring wheelsMeasuring wheels

Cable socketsCable sockets

Cable pullsCable pulls

EvaluationEvaluation

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als for the world of automation

Subject to reasonable modifications due to technical advances • Copyright PEPPERL+FUCHS • Printed in Germany • Part. No. 96 151 08/03 02

www.pepperl-fuchs.com

Worldwide HeadquartersPepperl+Fuchs GmbH · Königsberger Allee 8768307 Mannheim · GermanyTel. +49 621 776-0 · Fax +49 621 776-1000e-mail: [email protected]

USA HeadquartersPepperl+Fuchs Inc. · 1600 Enterprise ParkwayTwinsburg, Ohio 44087 · Cleveland-USATel. +1 330 4253555 · Fax +1 330 4254607e-mail: [email protected]

Asia Pacific HeadquartersPepperl+Fuchs Pte Ltd. · P+F Building18 Ayer Rajah Crescent · Singapore 139942Tel. +65 67799091 · Fax +65 68731637e-mail: [email protected]

SIGNALS FOR THE WORLD OF AUTOMATION

Overview

Rotary Encoders

FACT

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Edition 2004







■ Counters


CouplingCoupling





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Incremental Encoders

In automation, rotary encoders are used as sensors for angle, position,speed and acceleration. By the use of spindles, gear racks, measuringwheels or cable pulls, linear movements can also be picked up.They convert the actual value of a mechanical parameter into electricalsignals which can be processed by counters, tachometers, programmablelogic controllers and industrial PCs.

Incremental EncodersIncremental encoders supply a certain number of pulses for each shaftrevolution. The measurement of the cycle duration or the counting of thepulses per unit of time supplies the speed of a movement. If the pulses after a reference point are added, the calculated value represents a parameter for the scanned angle or the distance covered.Two-channel encoders – with a phase shift of 90 deg. – enable the follow-up electronic equipment to recognise the direction of rotation ofthe shaft and thus permit bidirectional positioning tasks. In addition,three-channel incremental encoders provide a so-called zero signal foreach revolution.

Incremental

Encoders

Incremental

Encoders

3 4 11

Series 10 Series 20 Series 30Number of pulses ≤ 5,000 ≤ 2,500 ≤ 5,000Design [mm] ø58 55 x 55 ø90

clamping flange,Flange type servo flange, square flange servo flange

square flangeSpigot [mm] ø36, – ø40

ø50Solid shaft [mm] ø6 x 10, ø12 x 25

ø10 x 20 ø6 x 20Hollow shaft [mm] – – –Recessed hollow shaft [mm] – – –Max. rotational speed [min–1] 10,000 3,000 6,000Max. shaft load, axial [N] 60 10 60Max. shaft load, radial [N] 80 10 80Operating voltage [V DC] 5 or 5 or 5 or

10 … 30 10 … 30 10 … 30Output type push-pull, push-pull, push-pull,

RS 422 RS 422 RS 422Max. output frequency [kHz] 100 160 100Signal outputs A, A, B, B, 0, 0 A, B, 0 A, A, B, B, 0, 0Protection Class IP65 IP40 IP65

Series 60 Series 81Number of pulses ≤ 1,250 ≤ 500Design [mm] 74 x 74 40 x 50Flange type square flange rectangular flangeSpigot [mm] – –Solid shaft [mm] ø12 x 25 –Hollow shaft [mm] ø7 ø6Recessed hollow shaft [mm] – –Max. rotational speed [min–1] 6,000 3,000Max. shaft load, axial [N] 40 –Max. shaft load, radial [N] 60 –Operating voltage [V DC] 10 … 30 10 … 30

Output type push-pull push-pull

Max. output frequency [kHz] 50 20Signal outputs A, B, 0 A, B, 0Protection Class IP50 IP52

SCS14 AHS74 SHS74Ex-designation EEx d II C T6 EEx d II C T6 EEx d II C T6

EC-type examination certificate ZELM 02 ATEX 0078 ATEX pending ATEX pending

Resolution singleturn 8,192 8,192 8,192Resolution multiturn 1 1 1

Design [mm] ø116 ø70 ø70

Flange type clamping flange servo flange servo flange

Spigot [mm] ø40 ø60 ø60

Solid shaft [mm] ø12 x 25 – –

Hollow shaft [mm] – ø12 ø12

Recessed hollow shaft [mm] – – –

Max. rotational speed [min-1] 6,000 6,000 6,000

Max. shaft load, axial [N] 40 10 10

Max. shaft load, radial [N] 60 20 20

Operating voltage [V DC] 18 ... 30 10 ... 30 10 ... 30

Interfaces parallel SSI parallel

Output type push-pull RS 485 push-pull

Selection of counting direction yes – yes

LATCH – – –

TRISTATE – – –

PRESET 1 – – yes

PRESET 2 – – –

Protection class IP66 IP64 IP64

Ex-Encoders

Absolute Encoders




Incremental

Encoders

Incremental

Encoders

3 4 11



























LATCH – – –





Ex-Encoders

Absolute Encoders

RHI58 RSI58 RVI58Number of pulses ≤ 5,000 ≤ 5,000 ≤ 10,000Design [mm] ø58 ø58 ø58Flange type – – Clamping flange,

Servo flangeSpigot [mm] – – ø36, ø50Solid shaft [mm] – – ø6 x10, ø10 x 20Hollow shaft [mm] ø10, ø12 – –Recessed hollow shaft [mm] – ø10 x 20, –

ø12 x 20Max. rotational speed [min–1] 6,000 12,000 12,000Max. shaft load, axial [N] – – 40Max. shaft load, radial [N] – – 60Operating voltage [V DC] 5 or 5 or 5 or


RS 422 RS 422 RS 422Max. output frequency [kHz] 200 200 200Signal output A, A, B, B, 0, 0 A, A, B, B, 0, 0 A, A, B, B, 0, 0 Protection class IP54 IP54 IP65

Incremental

Encoders

Incremental

Encoders

9 10 5

RVI25 RVI50 RVI78Number of pulses ≤ 5,000 ≤ 2,500 ≤ 5,000Design [mm] ø2.5’’ ø50 ø78Flange type clamping flange, clamping flange servo flange

servo flange,square flange

Spigot [mm] ø1,25’’, ø2,5’’ ø30 ø42Solid shaft [mm] ø0,375’’ x 0,875’’ ø8 x 15 ø10 x 23

ø0,25’’ x 0,875’’Hollow shaft [mm] – – –Recessed hollow shaft [mm] – – –Max. rotational speed [min–1] 12,000 10,000 6,000Max. shaft load, axial [N] 40 30 50Max. shaft load, radial [N] 60 50 100Operating voltage [V DC] 5 or 5 or 10 … 30

10 … 30 4.75 … 30Output type push-pull, push-pull push-pull

RS 422 RS 422Max. output frequency [kHz] 100 160 100Signal outputs A, A, B, B, 0, 0 A, A, B, B, 0, 0 A, B, 0 Protection class IP65 IP50 IP65

Pepperl+Fuchs offers rotary encoders with two different ignition protection types. It isdistinguished between the ignition protection type “flame proof enclosure” (EEx d) andthe ignition protection type “Intrinsic Safety” (EEx i).

Ignition protection type EEx d (DIN EN 50016/VDE/0170/0171 section 5)

Devices of ignition protection type EEx d are designed in a way that their housings are not damaged in case of an explosion of an explosive mixture inside the housing.Thus, a propagation of the explosion to the surrounding explosive atmosphere is prevented. The following devices are available:

■ Incremental encoders:

- Series 14 and RHI74 with parallel push-pull interface

■ Absolute encoders:

- Series AVE14, AVM14 and AHS74 with SSI interface- Series BVE14 and BVM14 with AS-Interface- Series CVE14 and CVM14 with CAN interface- Series SCS14 and SHS74 with parallel push-pull interface

Ignition protection class EEx i (DIN EN 50020)

In case of the ignition protection type EEx i the values of the voltage and the current are kept at such a low level that the occurrance of an ignition spark is prevented, thus preventing the ignition of an explosive atmosphere. The following devices are designed in accordance with this ignition protection type:


- Series RVI84 and TRD-G with NAMUR1) interface in accordance with DIN EN 60947-5-6.

NAMUR sensors, two-wire

NAMUR sensors in accordance with DIN EN 60947-5-6 are two-wire sensors.

1)NAMUR: Normenarbeitsgemeinschaft für Mess- und Regeltechnik der chemischen Industrie

Rotary Encoders for hazardous areasflame proof or intrinsically safeRotary Encoders for hazardous areasflame proof or intrinsically safe

Series 14 RHI74 RVI84 TRD-GEx-designation EEx d IIC T6 EEx d IIC T6 EEx ia IIC T6 EEx ib IIC T6

EC-type examination certificate ZELM 02 ATEX ATEX pending PTB 99 ATEX ATEX pending0078 2219 X

Number of pulses ≤ 5,000 ≤ 5,000 ≤ 25 ≤ 100

Design [mm] ø116 ø70 ø78 ø78

Flange type clamping flange servo flange servo flange servo flange

Spigot [mm] ø40 ø60 ø56 ø56

Solid shaft [mm] ø12 x 25 – ø10 x 23 ø10 x 23

Hollow shaft [mm] – ø12 – –

Recessed hollow shaft [mm] – – – –

Max. rotational speed [min-1] 6,000 6,000 3,000 3,000

Max. shaft load, axial [N] 60 10 50 50

Max. shaft load, radial [N] 80 20 100 100

Operating voltage [V DC] 5 or 10 ... 30 5 or 10 ... 30 8 8

Output type push-pull, RS 422 push-pull, RS 422 NAMUR NAMUR

Max. output frequency [kHz ] 100 200 5 1

Signal outputs A, A, B, B, 0, 0 A, A, B, B, 0, 0 A,B A,B

Protection class IP66 IP64 IP65 IP65

Ex-Encoders


AVE14 AVM14 BVE14 BVM14 CVE14 CVM14

Ex-designation EEx d II C T6 EEx d II C T6 EEx d II C T6

EC-type examination certificate ZELM 02 ATEX 0078 ZELM 02 ATEX 0078 ZELM 02 ATEX 0078

Resolution singleturn 4,096 4,096 8,192 8,192 8,192 8,192

Resolution multiturn 1 4,096 1 4,096 1 4,096


Flange type clamping flange clamping flange clamping flange


Solid shaft [mm] ø12 x 25 ø12 x 25 ø12 x 25

Hollow shaft [mm] – – –





Operating voltage [V DC] 18 ... 30 29.5 ... 31.6 18 ... 30

Interfaces SSI AS-Interface CAN

Output types RS 422 – CAN 2.0 Part B, SAE81C91

Selection of counting direction yes yes –

LATCH – yes –


PRESET 1 – yes –



Ex-Encoders

Absolute Encoders

Absolute encoders provide a distinctly codednumerical value for each shaft position. In positioning tasks in particular, the absoluteencoders relieve the follow-up electronics ofcomputation tasks so that complicated andexpensive input components can be dispensedwith. Moreover, reference runs when themachine is switched on or after a power failureare no longer required as the current positionvalue is available immediately. Parallel absoluteencoders transmit the position value to theanalysing electronics parallel through severalcables. In case of serial absolute encoders theoutput data can be transmitted by means ofstandardised interfaces and standardised proto-cols. Whilst in the past frequently point-to-point connections were set up for serial datatransmission, field bus systems are being usedincreasingly today.

FunctionSingleturn

In case of singleturn encoder, a revolution ofthe encoder (360°) is divided up into a maxi-mum of 65,536 measuring steps (16 Bit). Aftereach complete revolution, the coding processstarts at the initial value. The encoder electronics does not recognise how many revolutions have been carried out.

MultiturnIn this configuration, a gear has been integrat-ed – in addition to the disc coded in the singleturn configuration. This gear has beengeared down and coded in such a way that upto 4,096 revolutions (12 bit) can be picked up.Thus, the overall resolution amounts to 16 bit(singleturn resolution) plus 12 bit (speed), totaling 28 bit. On account of the high numberof measuring steps resulting (268,435,456) thistype of encoder can be used to divide verylong linear distances into small measuringsteps.

InterfacesThe Pepperl+Fuchs encoder portfolio includes themost varied range of current interfaces forabsolute encoders to be found on the market:

Parallel interfaceThe emphasis for this interface is on rapid datatransfer. Position data is read directly out of thegray-code code disc.

SSI-InterfaceThe Synchronous Serial Interface (SSI) was spe-cially developed for transferring the output dataof an absolute encoder to a control device. Thecontrol module sends a clock bundle and theabsolute encoder responds with the positionvalue.

AS-InterfaceIn modern machines and systems, binary sensorsare networked extensively with AS-Interface. Inorder to meet the real-time demands, a multi-slave solution using the AS-Interface encoder wascreated.

CANPepperl+Fuchs offers two rotary encoders in accordance with CAN standard:

■ CAN encoder to CAN 2.0■ CAN open encoder to DSP406

(Class 1 and Class 2)

DeviceNetThe product range is completed by DeviceNetencoders. The integrated interface supports allDeviceNet functions.

InterBusThe absolute encoder fulfills all requirements ofthe InterBus profile according to the standard ofthe Encom Encoder User Organisation. The profilesatisfies the european InterBus standard EN50254. The encoder can be interfacedusing either copper cable or by means of fibreoptics.

PROFIBUSThe absolute encoders in this series satisfy thePROFIBUS profile for encoders, order no. 3.062.Operation is supported based on Class 1 andClass 2.

Absolute EncodersAbsolute Encoders Absolute

EncodersAbsolute

Encoders

Absolute

EncodersAbsolute

Encoders

6 7 8

ASS58 ASM58 AVS58 AVM58 BSS58 BSM58ASS58-H ASM58-H AVS58-H AVM58-H

Resolution singleturn 65,536 65,536 65,536 65,536 8,192 8,192Resolution multiturn 1 4,096 1 4,096 1 4,096


Flange type – clamping flange, servo flange –

Spigot [mm] – ø36, ø50 –

Solid shaft [mm] – ø6 x 10, ø10 x 20 –


Recessed hollow shaft [mm] ø10 x 30, ø12 x 30 – ø10 x 20, ø12 x 20


Max. shaft load, axial [N] – 40 –

Max. shaft load, radial [N] – 110 –

Operating voltage [V DC] 10 ... 30 10 ... 30 29.5 ... 31.6

Interfaces SSI SSI AS-Interface

Output type RS 422 RS 422 –

Selection of counting direction yes yes yes

LATCH – – yes


PRESET 1 yes (only ASS58, ASM58) yes (only AVS58, AVM58) yes



BVS58 BVM58 CVS58 CVM58 DVS58 DVM58Resolution singleturn 8,192 8,192 65,536 65,536 65,536 65,536Resolution multiturn 1 4,096 1 4,096 1 4,096Design [mm] ø58 ø58 ø58Flange type clamping flange, servo flange clamping flange, servo flange clamping flange, servo flangeSpigot [mm] ø36, ø50 ø36, ø50 ø36, ø50Solid shaft [mm] ø6 x 10, ø10 x 20 ø6 x 10, ø10 x 20 ø6 x 10, ø10 x 20Hollow shaft [mm] – – –Recessed hollow shaft [mm] – – –Max. rotational speed [min-1] 12,000 6,000 6,000 6,000Max. shaft load, axial [N] 40 10 10Max. shaft load, radial [N] 60 20 20Operating voltage [V DC] 29.5 ... 31.6 10 ... 30 10 ... 30Interfaces AS-Interface CANopen DeviceNetOutput type – DSP406, –

Class 1 und 2Selection of counting direction yes yes yesLATCH yes – –TRISTATE – – –PRESET 1 yes yes yesPRESET 2 yes yes yesProtection class IP65 IP65 IP65

FHS58 FSS58 FVS58 IVE10 IVM10 IVM10SUPI 3 OPC

Resolution singleturn 8,192 8,192 8,192Resolution multiturn 1 1 4,096Design [mm] ø58 ø58 ø100Flange type – clamping flange, clamping flange, clamping

servo flange servo flange flangeSpigot [mm] – ø36, ø50 ø36, ø50 ø36Solid shaft [mm] – ø6 x 10, ø6 x 10, ø10 x 20 ø10 x 20

ø10 x 20Hollow shaft [mm] ø12 – –Recessed hollow shaft [mm] – ø12 x 20 – –Max. rotational speed [min-1] 6,000 10,000 12,000 6,000Max. shaft load, axial [N] – 40 10Max. shaft load, radial [N] – 60 20Operating voltage [V DC] 10 ... 30 10 ... 30Interfaces parallel InterBusOutput type push-pull RS 485Selection of counting direction yes yesLATCH yes –TRISTATE yes –PRESET 1 – yesPRESET 2 – –Protection class IP65 IP65

PSS58 PSM58 PVS58 PVM58 SCS10 SCM30Resolution singleturn 8,192 8,192 8,192 8,192 8,192 4,096Resolution multiturn 1 4.096 1 4.096 1 4,096


Flange type – clamping flange, clamping flange, servo flangeservo flange servo flange

Spigot [mm] – ø36, ø50 ø36, ø50 ø40

Solid shaft [mm] – ø6 x 10, ø10 x 20 ø6 x 10, ø10 x 25ø10 x 20


Recessed hollow shaft [mm] ø10 x 30, ø12 x 30 – –


Max. shaft load, axial [N] – 40 40

Max. shaft load, radial [N] – 110 60

Operating voltage [V DC] 10 ... 30 10 ... 30 18 … 32

Interfaces PROFIBUS PROFIBUS parallel

Output type RS 485 RS 485 push-pull


LATCH – – yes

TRISTATE – – – yes

PRESET 1 yes yes yes –


Protection class IP65 IP65 IP 65


FunctionSingleturn














EncodersAbsolute

Encoders

Absolute

EncodersAbsolute

Encoders

6 7 8
















LATCH – – yes














Spigot [mm] – ø36, ø50 ø36, ø50 ø40











LATCH – – yes






FunctionSingleturn














EncodersAbsolute

Encoders

Absolute

EncodersAbsolute

Encoders

6 7 8
















LATCH – – yes














Spigot [mm] – ø36, ø50 ø36, ø50 ø40











LATCH – – yes










Incremental

Encoders

Incremental

Encoders

10 5
























Number of pulses ≤ 5,000 ≤ 5,000 ≤ 25 ≤ 100















Ex-Encoders




















LATCH – yes –





Ex-Encoders

Absolute Encoders

9






Incremental

Encoders

Incremental

Encoders

9 10 5
























Number of pulses ≤ 5,000 ≤ 5,000 ≤ 25 ≤ 100















Ex-Encoders




















LATCH – yes –





Ex-Encoders

Absolute Encoders




Incremental

Encoders

Incremental

Encoders

3 4 11



























LATCH – – –





Ex-Encoders

Absolute Encoders

Overview

Rotary Encoders

FACT

ORY

AUTO

MAT

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Edition 2004







■ Counters


CouplingCoupling





2

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MAT

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AUTO

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Sign








Documents

FACTORY AUTOMATION and fu… · Incremental Encoders In automation, rotary encoders are used as sensors for angle, position, speed and acceleration. By the use of spindles, gear racks,