Data sheet Electromagnetic CANopen multiturn rotary encoder … · 2019. 4. 30. · Electromagnetic...

Electromagnetic CANopen multiturn rotary encoder Model TRN58 Data sheet No.: TRN 13872 AE

Date: 25.07.2016

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

Robust design for use in stationary and mobile machines, for industrial applications and automation projects

CANopen interface regarding CiA Encoder profile406,No.4.0.1

ProtectiontypeIP67(optionallyIP69k)

Play-freemeasurementgearZRS(option)

DesignRobust aluminium housing (wall thicknesses 3 mm) (optional-ly: stainless steel) - a common drive shaft (measurement axis) and ball bearing with Nilos ring - rotor with shaft, transmission and permanent magnet mounted in pre-chamber - sensor circuit consisting of ASICs with Hall elements and interface electronics in enclosed main chamber - registration of revo-lutions through absolute multiturn transmission - electrical connection via two connectors M12x1, Bus in, Bus out, 5-pin/ socket, A-coded.

FunctionThe CANopen interface is designed according to the CANopen Application Layer and Communication Profile, CiA Draft Stan-dard 301, according to the "Device Profile for Encoders CiA Draft Standard Proposal 406 Version 4.0.1" and the CANopen Layer Setting Services and Protocol (LSS), CiA DSP 305.In addition to the position signal, a speed signal is availa-ble for each node. The gate time for registering the speed signal is defined as 1000 ms as standard. 14-bit position data are used for calculating the speed signal, and sliding averaging of the speed signal is performed.Depending on use case, a play-free measurement gear can be mounted on the rotary encoders.The technical data for the play-free measurement gears are according to data sheet ZRS 11877.

http://twk.de/data/pdf/11877_e0.pdf

Electromagnetic rotary encoder TRN58

Date: 25.07.2016 Page 2 of 14 Document No. TRN 13872 AE

Technical data

Electrical data/nodes Sensor system: ASICs with Hall elements Accuracy: ± 0.2% (with reference to 360°) Reproducibility: ± 0.02% (with reference to 360°) Temperature drift: < 0.1% (with reference to 360° over the entire temperature range) Operating voltage range: + 9 VDC to + 36 VDC Power consumption: < 2 W Switch-on current: < 500 mA Resolution: 4096 steps / 360°



CANopen features

CANopen features NMT master: No NMT slave: Yes Maximum boot-up: No Minimum boot-up: Yes COB ID distribution: Default, SDO Node ID distribution: Via Index 2000 or LSS No. of PDOs: 2 Tx PDO modes: Sync, async, cyclic, acyclic Variable PDO mapping: No Emergency message: Yes Heartbeat: Yes No. of SDOs: 1 Rx / 1 Tx Device profile: CiA DSP 406 version 4.0.1

The details of the profile are described exhaustively in the NOC 13100 user manual.

Principle circuit diagram

Singleturnsampling

Multiturnsampling

SPI

SPI

+5VGND

Position-controller

Maincontroller

UART

Reset

Netzworkregulator

Digitalisolator

CANdriver

Supply- Switching regulator- Filtering- Polarity reversal

Reset

+5V

DC/DCconverter

+3,3VGND

GND

+5V

+3,3VGND

GND

GND

+5V

GND

+5V*

+5V +5V*

GND*

CAN

CAN GND

CANL

CANH

-UB

+UBGND

+5VGND

+3,3V

GND*

GND

+5VNetzworkregulator




DataprofileCANopenPDO1/PDO2

Connectorpindiagram,designM12x1(viewofconnectorside)

Socket, 5-pin,A-coded

Pin, 5-pin,A-coded

1

4

2

3

5

2

3

1

4

5

OutputlevelaccordingtoISO/DIS11898

t

3.5 CAN_H

CAN_L

2.5

1.5

Recessive Dominant Recessive1) With common mode voltage = 0 V

Bus

leve

l / V

1)

5

1

23

4

0

Busactivation,outputlevel,connectorpindiagramsanddataprofile

PDO 1 / PDO 2

157310 2 54 6 8 9 10 11 12 13 14Data Byte 0

LSB

Data Byte 1 Data Byte 2 Data Byte 316 241817 2019 2221 23 282625 27 3029 31 60 1 2 3 4 5

Data Byte 47

MSB0

Data Byte 58 109 141211 13 15

LSB MSB0 0 0 0 0 0 0

velocity valuedata position

BusactivationaccordingtoISO/DIS11898

* *

CAN_H

CAN_L

CAN_H

CAN_L

CAN-Bus

CA

Nop

en-

Sub

scrib

er

Enc

oder

TR

NN

ode

1

Termination resistance (120 )*

Enc

oder

TR

NN

ode

2



Connector assignment and versions of galvanic separation

Note:TherecommendedversionisV1withfullgalvanicseparation.ThisoffersmaximumEMCresistance,maximumCANopendatatransfersecurityandthusmaximumoperatingsafety.VersionsV2andV3arespecialversionswhichmustbecompatiblewiththestructure(topology)oftheCANopenbussysteminthecustomerapplication(→controlsystemandotherCANopensubscribers).Operatingsafetyordatatransfersecuritymayotherwisebeaffected.

Forthefollowingdescriptionandpictorialsisvalid:Viewed looking at the PIN side of the connector installed in the TRN.

PIN Function for standard version1 CAN GND2 Operating voltage + UB3 Operating voltage - UB4 CAN_H5 CAN_Lfemale

12

34 5

253 1

4

PIN Function for standard version1 Screen (Cable / housing)2 Operating voltage + UB3 Operating voltage - UB and CAN_GND4 CAN_H5 CAN_L

male

V1:CAN_GNDandUBgalvanicallyseparated(ǂ).Screening/housinggalvanicallyseparated(ǂ)This version is recommended and provides complete galvanic separation. Power supply and CAN_GND is galvanically separated. The housing and the screening of the cable is galvanically separated as well. The screening of the cable comes to the housing of the TRN via the housing of the mating plug.

V2:CAN_GNDandUB notgalvanicallyseparated(=).Screening/housinggalvanicallyseparated(ǂ)This version provides partly galvanic separation. Power supply and CAN_GND are not galvanically separated. The housing and the screening of the cable are galvanically separated from power supply and CAN_GND. The screening of the cable comes to the housing of the TRN via the housing of the mating plug and/or Pin 1 of the connector.

female

12

34 5

253 1

4

male

Exampleisvalidforstandardversion

Attention:Thedescriptionofthedifferentversionsofgalvanicseparation,V1toV3,refersonlytotherelationshipsoftheindividualpotentials(-UB,CAN_GNDandhousing/shield)tooneanother.I.e.whethertheyaregalvanicallyconnectedornot.Theconnectionplugpinassignmentsshownbelowareindependentofthisandonlydescribethestandardpinassignment.Othervariantsmayrevealadifferentpinassignment.Theconnectionassignment(TYxxxx)whichisenclosedwitheachdeviceorcanberequestedmustalwaysbeobserved.



V3:CAN_GNDandUB notgalvanicallyseparated(=).Screening/housingnotgalvanicallyseparated(=)This version provides no galvanic separation. Power supply and CAN_GND are not galvanically separated. The housing and the screening of the cable are not galvanically separated from power supply and CAN_GND. The screening of the cable comes to the housing of the TRN via the housing of the mating plug and/or Pin 1 of the connector.

PIN Function for standard version1 Screen (Cable / housing) - shorted to pin 3 -2 Operating voltage + UB

3 Operating voltage - UB and CAN_GND- shorted to pin 1 -4 CAN_H5 CAN_L

12

34 5

253 1

4

malefemale

Connector assignment and versions of galvanic separation Exampleisvalidforstandardversion



Scope of delivery A connection assignment is enclosed with each device. The EDS file, data sheet and manual are available at www.twk.de

Order number

TRN 58 KZ A 4096 R 4096 C2 S V1 N 01

01 Electrical and mechanical variants*

NOutput:CANopen

V1V2V3

Galvanicseparationǂ:-VS ǂ CAN_GND ǂ screening/housing →Recommended-VS = CAN_GND ǂ screening/housing-VS = CAN_GND = screening/housing

STKL

Electrical connections:Device connector, radial, M12x1, A-coded, pin, for sensors 1, 2Device connector, axial, M12x1, A-coded, pin, for sensors 1, 2Cable - option (2 x 1 m, radial)Cable - option (2 x 1 m, axial)Other cable lengths on request

C2Profile: CANopen according to CiA, DS 406 revision 4.0.1

4096

Measuring rangeRevolutions

ROutput code:Binary

4096 8192

Resolution:Steps / 360°12-bit13-bit

AS

Housing material:AluminiumStainless steel(1.4305, optionally 1.4404)

KKPKZSNS

Flange type:Clamped flange, shaft 10 mm - with flattened areaClamped flange, shaft 10 mm - with feather keyClamped flange, shaft for measurement gear ZRSSynchroniser flange, clamped shaft, 12 mm inside diameter - with grooveSynchroniser flange, shaft 6 mm

58Design form:Housing diameter Ø 58 mm

TRNModel series: TRN multiturn rotary encoder with CANopen interface

-

* The basic versions according to the data sheet bear the number 01. Deviations are identified with a variant number and are documented in the factory.

http://twk.de



Installationdrawing

Dimensions in mm

ModelTRN-Kwithshaft10mm-withflattenedarea

36

85 ±0.5

48 ±0.1

120°

M4x9

NILOS-ring

10

36f7

ø58

-0.1

ø

53-0

.1ø

Position coding pinand coding groove

ca.75

34ca

.

Sensor connector M125-pole pins, A-codedaligned

9-0

.1

10f7

ø

30 ±0.5

18

S1 S2

Sensor connector M125-pole socket, A-codedaligned



Installationdrawing

Dimensions in mm

ModelTRN-KPwithshaft10mm-withfeatherkey

36

85 ±0.5

48 ±0.1

120°

M4x9

NILOS-ring

10

36f7

ø58

-0.1

ø

53-0

.1ø


ca.75

34ca

.


30 ±0.5

S1 S2

10f7

ø

A

EINZELHEIT A2:1

8

3 N9Groove for feather key DIN 6885 A 3x3x10




Installationdrawing

Dimensions in mm

ModelTRN-KZwithshaftformeasurementgear

48 ±0.1

M4x9

NILOS-ring

58-0

.1ø

53-0

.1ø



S1 S2


63

85 ±0.536 ±0.5

17ø

11-0

.1

12 f6ø10.4 -0.1ø

34ca

.

10 ca.75

120°

36f7

ø



Installationdrawing

Dimensions in mm

ModelTRN-SNwithclampedshaft,12mminsidediameter-withgroove

3

42 ±0.1

M4x7

NILOS-ring


34ca

.


80ca.

6

18.5 ±0.5 91 ±0.5

50ø

4

5

AA

Section A-A

12H

7ø

15h7

ø

16.2

S1 S2

50f7

ø58

-0.3

ø


120°



Installationdrawing

Dimensions in mm

ModelTRN-Swithshaft6mm

3

42 ±0.1

M4x7

NILOS-ring


34ca

.


80ca.

6

91 ±0.5

50ø

4

14 ±0.5

50f7

ø58

-0.1

ø

6f7

øS1 S2


120°



Accessories

Play-freefoldingbellowscouplingBKK32/x-yx and y: hole diameter for shaft mounting

See data sheet BKK 11840

Play-freeclampcouplingKK14S/x-y(withoutgroove)x and y: hole diameter for shaft mounting

See data shee KK 12301

Play-freeclampcouplingKK14N/x-y(withgroove)x and y: hole diameter for shaft mounting

with groove for feather key according to DIN 6885 page 1 – JS9.See data sheet KK 12301

KL66-2-SFastening clamps for rotary encoder installation.See data sheet MZ 10111

ZMS58 Torque support/stator coupling. Can be used as rotary en-coder bracket for shaft version 'clamped shaft' to compen-sate drive shaft radial and axial play.See data sheet ZMS 12939

http://twk.de/data/pdf/11840_e0.pdfhttp://twk.de/data/pdf/12301_e0.pdfhttp://twk.de/data/pdf/12301_e0.pdfhttp://twk.de/data/pdf/10111_e0.pdfhttp://twk.de/data/pdf/12939_e0.pdf



'Play-compensating measurement gear' ZRS can be used for mechanically driving the rotary encoder shaft without play on a slewing ring/toothed rack. Different modules and numbers of teeth are available. ZRS material: polyamide. See also data sheet ZRS 11877. The mechanical connection necessitates shaft design 'KZ', see order number.

Installation recommendation: tighten bolt M6x12 to a torque of 6 Nm and secure with Loctite (medium adhesive strength).

10+1

20+1

12 H9

37O

5+0

.1

Play-compensating measurement gear ZRS (SubjecttoTWKutilitymodelprotection)

* Other values on request

** Please contact our technical support to select the required measuring gear.

Order code number

ZRS 12 10 A 01

A 01Variants **:Standard

10Teeth:No. of ZRS teeth *

12 Module:5 to 24 *

ZRS Model:toothed gear, play-compensating model

- - -Washer DIN 9021

13x37x3, VA

Toothed gear

Washer DIN 902110,5x30x2,5, VA

Washer DIN 73496,4x17x3, VA

Lock washerS6, VA

Bolt DIN 912M6x12, VA

Data sheet Electromagnetic CANopen multiturn rotary encoder … · 2019. 4. 30. · Electromagnetic...

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