Feedback systems for servomotors SinCos® SCS/SCM · PDF filemits the complete absolute value. ... The digital absolute information and the assignment to the respective 512 cycle 508

Feedback systems for servomotorsSinCos® SCS/SCM 60 and SCS/SCM 70(HIPERFACE® compatible)

®

AUDIN - 8, avenue de la malle - 51370 Saint Brice CourcellesTel : 03.26.04.20.21 - Fax : 03.26.04.28.20 - Web : http: www.audin.fr - Email : [email protected]

List of contents

Section Title Page

1 HIPERFACE® 3

2 System description 4 - 5

3 Technical data and characteristics 6

4 Signal specification 7

5 Restart 8

6 Connection details, SCS/SCM 60 9

7 Connection details, SCS/SCM 70 10

8 Dimensional drawings and suggested installation, SCS/SCM 60 11

9 Dimensional drawings and suggested installation, SCS/SCM 70 12

10 Dimensional drawings and ordering details 13 - 15

11 The SinCos® transmitter as a »stand alone« unit 16

* For HIPERFACE® detailed information, see product information 910 980 103 445

Highlights

• 512 sine/cosine periods per revolution• Absolute position with a resolution of 16384 steps per revolution• 4096 revolutions measurable (only Multiturn SCM)• Position value programming• Encoder temperature interrogation• Electronic type label• 128 byte of EEPROM freely programmable by the user

(for example configuration/commissioning data)• Individually configurable interface (baud rate and parity)• Only one mechanical interface for low-end and high-end applications


Benefit from the advantages of HIPERFACE®

• only one interface to the speed controller forall applications

• only one type of signal line between speedcontroller and signal transmitter

• manual parameter setting on the speed contolleris dispensed with (intrinsic initialisation).

1. HIPERFACE® High Performance Interface

The universal interface for electric drives

Depending on their design and application, electricdrives need the following information from correspon-ding sensors in the control loop:

� Commutation information� Rotational speed information� Incremental position information� Absolute position information over

several revolutions

All this information can be transferred viaHIPERFACE®.

Technical innovation to meet the highest requirementswas brought into the marketplace by STEGMANN withtheir SinCos® product line.The SinCoder® product line extends the range of motorfeedback systems for standard and low-cost appli-cations. SinCos® and SinCoder® can be supplied withcompatible mechanical and electrical interfaces.Electrical compatibility in respect of all physical para-meters is ensured by the introduction of HIPERFACE®

as the mandatory interface.

• Reliable data transmission • Only 8 lines• High information content • Parameter channel with bus capability• Electronic type label • Real-time process data channel

Mot

or fe

edba

ck s

yste

ms

Driv

eProcess data channel

Sine

Cosine

Data out Data out

Data inData inRS 485 Parameter channel

Supply voltage


SinCos® - The new dimension in motor feedback systems

The development aimsThe objective of developing this product was toprovide a cost-effective feedback system with aperformance previously unattainable.The feedback device must be suitable for usewith servomotors of all kinds.

• It must be possible to install the device in the servo-motor. This requires a high temperature range anda very high immunity to interference.

• It must be possible to transmit the informationrequired for rotational speed control with highaccuracy over a distance of 100 m using only asmall number of cable cores even at speeds upto 12,000 revolutions/minute.

• It must be possible to install the encoder in theservomotor simply. Furthermore the encoder mustremain serviceable and error-free with axial expan-sion of the motor shaft of up to 1.5 mm. Likewise,radial eccentricity of the motor shaft must notcause any angular error.

• It must be possible to electronically assign anabsolute positional value to any mechanicalshaft position.

• The unit should be available in extremly compactform, both as a single-turn encoder or as a multiturnencoder with additional detection of 4096 revo-lutions, in the same mechanical dimensions.

• The electrical interface should be designed suchthat it is possible to read and store not only theactual angle measurements, but also other informa-tion such as encoder temperatures, motor charac-teristic data and logistic information.

The novel featuresWell known types of optical rotary encoders are so-cal-led incremental encoders or absolute encoders. Becau-se of their great complexity, absolute encoders are rela-tively expensive to produce using conventionalmethods.

This conventional method consists of reading binaryinformation coded on a glass disc. Each binary positionrequires appropriate optical scanning. All thesescanning operations must be synchronised with oneanother in such a way that there can be no read errorsunder all operating conditions. In addition, the electricalinterface of such absolute encoders continuously trans-mits the complete absolute value.

The SinCos® system can be considered as a mixture ofan incremental encoder and an absolute encoder. Inthis case, the absolute value is initially formed onlywhen the device is switched on, and is communicatedvia an RS 485 interface to an external counter, whichthen continues to count incrementally from this absolu-te value using the analogue sine/cosine interface.

In order to attain a high resolution whilst ensuring suita-bility of the encoder to high speed applications, theincremental encoder signal is not transmitted as digitalvalues, as is usual, but as an analogue sine/cosinevoltage. With 512 cycles per revolution, even at a speedof 12,000 rev/min the frequency produced is only 102.4KHz, which can then be transmitted without difficulty,even over long distances.

SinCos®

Sine - cosine signalsProcess data channel

RS 485Parameter channel

Voltage supply

4

2

2

2. System description


The advantage of using sinusoidal signals is that thetransmission channel does not have to be designedfor an extremely broad band, as is the case of digitalsignals, instead the bandwidth necessary is onlydetermined by the speed.

The absolute information within one 512 cycle As the figure below shows, the angle x can be deter-mined absolutely by means of the two analoguevoltages sine x and cosine x. The calculation of theabsolute position within a 512 cycle is not performedby the SinCos® encoder but externally - in the motordrive or position controller.

The digital absolute information and the assignment to the respective 512 cycle

510509508 511 512 1 2 3 4 505 506 507

1. Quadrant 2. Quadrant 3. Quadrant 4. Quadrant

The 3rd cycle of the 512 sine/cosine signals

Digital absolute value with a resolution of 16384 steps per revolution

Absolute value = 1/32 of the 512 cycle

Uncertainty range = 1/8 of the 512 cycle

System description

x

cosine x

sine x


3. Technical data and characteristics to DIN 32 878

SCS/SCM 60 SCS/SCM 70 UnitsNumber of sine/cosine cycles per revolutionDimensions mmMass SCS/SCM 70 A Surface-mounted unit 0.50 kg

SCS/SCM 70 + SCS/SCM 60 Flush-mounted unit 0.25 0.25 kgSC 70 "stand alone" 1.00 kg

Moment of inertia of the rotor 20 30 gcm2

Code type for the absolute valueCode direction with clockwise shaft rotationas viewed in direction "A" (see dimensional drawing)Measuring steps after forming the arctan with 12-bit resolution Seconds of arcNumber of steps per revolutionTotal number of steps SCS 60 + SCS 70

SCM 60 + SCM 70

Error limits of the digital absolute value via RS 485 Seconds of arcError limits in evaluating the 512 cycle signals,integral non-linearity Seconds of arcNon-linearity within one sine/cosine cycle,differential non-linearity Seconds of arcOutput frequency for sine/cosine signals kHzWorking speed up to which the absolute min-1

position can be formed reliablyOperating speed min-1

Max. angular acceleration rad/s2

Operating torque 0.1 0.2 NcmStarting torque 0.2 0.4 NcmPermissible shaft movement- Radial movement static mm

dynamic mm- Axial movement static mm

dynamic mm- Angular movement perpendicular

to the axis of rotation static mm/mmdynamic mm/mm

Bearing service life RevolutionsWorking temperature range °COperating temperature range °CStorage temperature range °CPermissible relative air humidity (no condensation allowed) %Resistance to shocks when assembled,to DIN IEC 68 Part 2-27 g/msResistance to vibration when assembled,to DIN IEC 68 Part 2-6 g/HzDegree of protection to DIN VDE 0470 Part 1 SCS/SCM 70 A

when assembled SCS/SCM 60 + SCS/SCM 70 E

EMV to EN 50082-2 and EN 50081-2Operating voltage range VRecommended supply voltage VMax. no-load operating current mAAvailable storage area in EEPROM BytesInterface signalsSIN, REFSIN, COS, REFCOS = Process data channelRS 485 = Parameter channel

512see dimensional drawing

binary

increasing0.6

1638416384 x 1

67.108.864 = 16384 x 4096± 180

± 40

± 180...1006000

120005 x 105

± 0.5± 0.1± 0.75± 0.25

± 0.005± 0.00253.6 x 109

-20 .... +115-20 .... +125-40 .... +125

90

85/6

20/10 ... 2000IP 66IP 40

7 .... 128

100 ... 130128

analogue, differentialdigital


Access to the process data used for the actual speedcontrol, that is the sine and cosine signals, is virtuallyalways »on line«. When the supply voltage is switchedon, the speed controller can access this information atany time.

A sophisticated proven technique ensures that theamplitude of the analogue signals over the full rangeof specified environmental conditions varies by amaximum of only 20%.

4. Signal specification

Signal specification of the process data channel

Signal variation with clockwiserotation of the shaft, as viewedin the direction "A"

1 cycle = 360° : 512

Valid characteristics for all specified environmental conditions

SIN, COS peak-peak signal Vp-t-pSignal offset REFSIN, REFCOS

0.9 ... 1.12.2 ... 3.4

VV

Units

Recommended receiver circuit for the sine and cosine signals

The output circuit of the process data channel in the SinCos® encoder

R

R

10k

120

REFSIN/REFCOS

SIN/COS Differential amplifier with highcommon-mode rejection

10k


Default Serial Mode = E4hsee Command 57h

In special cases, unfavourable operating voltage at start-up may impair the power-up sequence of the encoder.In this instance, we recommend that after the encodersupply voltage has been switched on (t > 100 ms), a

software reset (53H) be initiated. This causes thepower-up sequence to be implemented again. Theencoder status can then be checked after one second (Command 50H).

5. Restart


6. Connection details SCS/SCM 60

PIN

12345678

Colour

redblue

brownblackgrey

greenwhitepink

Signal

Us 7 - 12 VGNDREFSINREFCOSData+ RS 485Data- RS 485SINCOSViewing direction »B«

Please note! For satisfactory operation, it is imperative that the stranded screen wire (200 mm) is connected.

Stranded cable

Article number046 029 000 320

The stranded cable withBerg-Dubox 2 x 4 femalestrip connector is not inclu-ded in the scope of supply.Please order separately.


Signal

REFCOS

Data + RS 485

N.C.

N.C.

SIN

REFSIN

Data- RS 485

COS

N.C./Screen

GND

N.C.

Us 7 - 12 V

PIN

1

2

3

4

5

6

7

8

9*

10

11

12

Colour

black

grey

–

–

white

brown

green

pink

–

blue

–

red

View on plug side

7. Connection details SCS/SCM 70

* Screen connection for flush-mounted version, PIN 9 to encoder housing.Screen connection for surface-mounted version via connector housing to the internal housing.

N.C. = not connected

C12 FUR mating connectoris not included in the scope of supply.Please order separately.

8. Ordering information

When ordering, please use the followingordering details.

Mode of operation Single turn encoder Multiturn encoderStandard (single-ended) SCS 60 SCM 60

SCS 70 SCM 70BUS SCS 60 BUS SCM 60 BUS

SCS 70 BUS SCM 70 BUS


9. Dimensional drawings and suggested installation, SCS/SCM 60

The encoder may be pressed in or removed only by using the rear end of the shaft.Under no circumstances should you press on the housing!

Follow the mounting instructions!


10. Dimensional drawings and suggested installation, SCS/SCM 70

Flush-mounted encoder with hollow shaft

SCS 70 DVE (Single turn) SCM 70 DVE (Multiturn)


Dimensional drawings and order details

Flush-mounted encoder with conical shaft

SCS 70 KVE (Single turn) SCM 70 KVE (Multiturn)



Surface-mounted encoder with hollow shaft

SCS 70 DVA (Single turn) SCM 70 DVA (Multiturn)



Surface-mounted encoder with conical shaft

SCS 70 KVA (Single turn) SCM 70 KVA (Multiturn)


The SinCos® encoder cannot always be fitted to a motor.In some cases, angle measurement has to be carriedout via a toothed belt or pinion. Equally, it may bemechanically preferable to use a shaft coupling. Tooffer a solution to these applications with the SinCos®

encoder, a flange attachment has been designed, which

Characteristics

Shaft load - axial 200 N

- radial 400 N

Operating torque 1 Ncm

Starting torque 2 Ncm

Degree of protection IP 65

Dimensions

SCS 70 KVAF SCM 70 KVAF(Single turn, flange) (Multiturn, flange)

or falnge attachment FV 112 K

is available either as a ready to fit kit (FV 112), or as acomplete unit (SC_70K_AF).As the flange attachment has its own robust mounting,the shaft load may be very high. SinCos® encoders inthe SC_70K_A range can be fitted to this kit.

13. The SinCos® encoder »stand alone« unit


Notes


NL NetherlandsSTEGMANN B. V.Hengelder 16NL - 6902 PA ZevenaarTel. 00 31 . 316 . 24 99 60Fax 00 31 . 316 . 24 98 10Internet: www.stegmann.nle-mail: [email protected]

N NorwayStork A/SBrynsveien 100N - 1352 KolsåsTel. 47 67 17 64 00Fax 47 67 17 64 01e-mail: [email protected]

PL PolandSTEGMANN Sp. z o. o.ul. Braci Mieroszewskich 12441 - 219 SosnowiecTel. +48 (32) 29 04 950Fax +48 (32) 29 04 951Internet: www.stegmann.ple-mail: [email protected]

SK SlowakeiSchmachtl SK s. r. o.Bardosova 2/ASK 83309 BratislavaTel. 7 / 54 777 484Fax 7 / 54 777 491e-mail: [email protected]

S SwedenSENSONOR ABSegersbyvägen 7S-14563 NorsborgTel. 08 531 70 800Fax 08 531 71 400Internet: www.sensonor.fie-mail: [email protected]

USA United States / CanadaSTEGMANN INC.7496 Webster StreetDayton, Ohio 45414P. O. Box 13596Dayton, OH 45 413 - 13596Tel. 1 937 454 1956Fax 1 937 454 1955Internet: www.stegmann.come-mail: [email protected]

ZA South AfricaCountapulseControls (Pty.) Ltd.P. O. Box 40393Cleveland 2022Rep. of S. AfricaTel. (011) 615 - 75 56/7/8Fax (011) 615 - 75 13

A AustriaIng. Franz Schmachtl KGPummererstraße 36A - 4020 LinzTel. 07 32 - 76 46 - 0Fax 07 32 - 78 50 36Internet: www.schmachtl.ate-mail: [email protected]

AUS Australia / New ZealandErwin SickOptic Electronic Pty. Ltd.899 Heidelberg RoadIvanhoe, Victoria 3079Tel. 03 9497 4100Fax 03 9497 1187 Internet: www.sickoptic.com.aue-mail: [email protected]

B / LUXSTEGMANN B. V.Hengelder 16NL - 6902 PA ZevenaarTel. 00 31 . 316 . 24 99 60Fax 00 31 . 316 . 24 98 10Internet: www.stegmann.nle-mail: [email protected]

BrasiliaSick Indústria e Comércio Ltda.Rua Conde de Porto Alegre, 1633Campo Belo - CEP 04 608 - 003São Paulo - SPTel. + 55 11 5561 2683Fax + 55 11 535 - 4153

CH SwitzerlandSMT Keller AGP. O. Box 2 22Landstraße 35CH - 8450 AndelfingenTel. 0 52 - 317 33 60Fax 0 52 - 317 35 51e-mail: [email protected]

CZ Czech RepublicSchmachtl CSVidenskà 185CZ - 25242 Vestec-PrahaTel. 02 - 44 00 15 00Fax 02 - 44 91 07 00Internet: www.schmachtl.cze-mail: [email protected]

DK DenmarkCompower A/SSmedeholm 13 BDK - 2730 HerlevTel. 44 92 66 20Fax 44 92 66 02Internet: www.compower.dke-mail: [email protected]

Max Stegmann GmbHMotion control technologyElectronics

Postbox 15 60D - 78156 DonaueschingenDürrheimer Straße 36D - 78166 DonaueschingenTelephone ( 07 71 ) 8 07 - 0Telefax ( 07 71 ) 80 71 00Internet:www. stegmann.dee-mail: info@ stegmann.de

Precisionin motion

Incremental andabsolute measuring systems.Feedback systemsfor servomotors.

Synchronous motorsStepping motorsControl units for motorsGears · Actuating drivesPositioning drives

Agents Distributors

© Max Stegmann GmbH 2001. All rights reserved.The products are as specified in the data sheet. This productinformation contains no assurance of properties for use.We reserve the right to alter delivery options and technical details.

Post codes 17 - 25Heinrich WolfIndustrieautomationRöntgenstraße 1D - 23701 EutinTel. (0 45 21) 7 39 52Fax (0 45 21) 7 42 79Internet: www.wolf.here.dee-mail: [email protected]

P. c. 29 - 31, 34, 37, 38Stefan BüttnerHermann-Löns-Straße 20D - 37627 StadtoldendorfTel. (05532) 99 48 05Fax (05532) 99 48 06e-mail: [email protected]

P.c. 32, 33, 40-42, 44-54, 56-59STEGMANNVertriebs GmbH WestTalstraße 95D - 45475 Mülheim/RuhrTel. (02 08) 3 08 96 - 0Fax (02 08) 3 08 96 - 66e-mail: [email protected]

P. c. 35, 36, 55, 60, 61,63 - 69, 747 - 749, 767, 768, 97TBO – Techn. BüroOberkötter GmbHNeue Straße 23D - 63636 BrachttalTel. (0 60 53) 60 06 - 42 / 43Fax (0 60 53) 60 06 44e-mail: [email protected]

P. c. 70 - 79, 88, 89 except747 - 749, 767, 768, 893, 894ifb-IngenieurbüroHans-Dieter RazumP. O. Box 19 39D - 72 709 ReutlingenTel. (0 71 21) 23 99 03Fax (0 71 21) 24 07 64

P. c. 01 - 04, 06 - 09, 26 - 28, 39,80 - 87, 893, 894, 90 - 96, 98, 99Max STEGMANN GmbHAntriebstechnik_ElektronikPostfach 1560D - 78156 DonaueschingenTel. (07 71) 8 07 - 0Fax (07 71) 8 07 - 1 00Internet: www.stegmann.dee-mail: [email protected]

E SpainS. A. SistelSantanac, 25E - 08206 SabadellTel. 93 - 7 27 00 74Fax 93 - 7 25 35 76Internet: www.sasistel.com

FIN FinlandSENSONOR OYKartanontie 20SF - 00330 HelsinkiTel. 358 - 9 - 4777 200Fax 358 - 9 - 4777 2020Internet: www.sensonor.fi

F FranceSTEGMANN S. à. r. l.15, rue du ParcF - 67205 OberhausbergenTel. 0825 849 749Fax 03 88 56 92 05Internet: www.stegmann.fre-mail: [email protected]

GB United Kingdom & EireSTEGMANN UK Ltd.5 The CourtyardReddicap Trading EstateGB - Sutton Coldfield. B 75 7 BUTel. 0121 - 311 30 00Fax 0121 - 311 01 91Internet: www.stegmann.co.uke-mail: [email protected]

I ItalySTEGMANN s. r. l.Via R. Luxemburg 12/14I - 10093 CollegnoTel. 011 - 79 79 65Fax 011 - 7 79 07 42Internet: www.stegmann.ite-mail: [email protected]

IND IndiaPG ELECTRONICS217 Ashirwad Industrial EstateBldg. No. 3, Ram Mandir RoadGoregoan (West),Bombay - 400 104Tel. 0 22 - 8 73 61 57Fax 0 22 - 8 72 49 21

JAPANMORITANI & Co. Ltd.1-4-22 Yaesu, Chuo KuTokyo 103-8680Tel. 81 - (0)3 - 32 78 - 60 63Fax. 81 - (0)3 - 32 78 - 61 95e-mail: [email protected]

KOREASTEGMANN-KWANGWOO Co. Ltd.196 Anyang-7 DongManan-Ku, Anyang-City, Kyounki-DoTel. 031 467 - 29 00Fax 031 467 - 29 04

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Documents

Feedback systems for servomotors SinCos® SCS/SCM · PDF filemits the complete absolute value. ... The digital absolute information and the assignment to the respective 512 cycle 508