High resolution bsolute single-turn rotar encoder Date: 03 ... · Date: 03.04.2018 Page 4 of 16...

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

High resolutionAbsolute single-turn rotary encoder Model HBN

Document no.: HBN 13218 GEDate: 03.04.2018

Robust design for rough applications with high resolution requirement such as crane technology, construction machines and special engineering

High vibration and shock resistance thanks to the compact mechanical design

Resolution < 22 bit / 360°

Speed signal in digits/ms with variable gate time

Protection type IP 66

Design- Robust housing (wall thickness 5 mm) manufactured from

seawater-proof aluminium (AlMgSi1) or stainless steel (material: 1.4305 optionally 1.4404).

- Position recording and evaluation are of a redundant design to implement a reliable position value and speed signal.

- Anetworkin/outmodulewithtransientfiltering,voltagesupply and output driver unit forms the electrical interface.

- ElectricalconnectionviatwoM12connectors,5-pin,pinand socket for bus IN / bus OUT.

FunctionA correct mechanical connection between the customer and sensor shaft ensures that the sensor precisely detects the customer shaft's rotations. A safe position is provided by the plausibility check of two sensor systems. Detected errors are evaluated.The CAN interface outputs the validated position value and speed signal via the CANopen Safety protocol within an SRDO (Safety Relevant Data Object) using 2x2 messages (normal and inverted).The rotary encoder meets the conditions of safety level SIL2 according to IEC 61508 and performance level "d" according to EN13849. The prerequisite of safety-relevant operation is a failsafe master.

Date: 03.04.2018 of 16 Document no. HBN 13218 GE

Absolute single-turn rotary encoder with high resolutionModel HBN

Technical data

Electrical dataOperating voltage: 9 to 36 VDC (protected against polarity reversal)Power consumption: < 1.8 WResolution: 16bit(forhigherresolution,pleasecontactourtechnicalstaff)Code direction: CW* or CCW** can be setReference value: 0 to (total number of steps -1)Accuracy: ≤± 0.05 % (with reference to 360°)Reproducibility: ≤± 0.01 % (with reference to 360°)Temperature drift: < 0.1 % (with reference to 360° over the entire temperature range)CAN IC voltage rating: Maximum common mode votage -7 to +12 V Maximum allowed voltage at pins ±36 V

Electrical output dataCAN interface: According to ISO/DIS 11898Address setting: Via LSS or object 2000Terminating resistor: To be implemented separatelyOutput code: BinarySpeed: Digits/gatetime(gatetimecanbesetinthe1...1000msrange,default:100ms)*** Speedresolutionisfixat16bit/revolution

Mechanical dataOperating speed: 500 rpmAngular acceleration: 105 rad/s² max.Moment of inertia (rotor): 20 gcm²Operatingtorque: ≤2NcmStartingtorque: ≤3NcmPerm.shaftload: 250Naxially,250NradiallyBearingservicelife: ≥109 revolutions ****Weight: Aluminiumhousingapprox.0.4kg, stainless steel housing approx. 0.6 kg

Environmental dataOperating temperature range: - 40 °C to + 85 °CStorage temperature range: - 40 °C to + 100 °C (without packaging)Resistance □To shock: 250 m/s²; 6 ms DIN EN 60068-2-27 □To vibration: 200 m/s²;10 Hz ... 2000 Hz DIN EN 60068-2-6EMC standards: DIN EN 61 000 - 6 - 2 Immission (burst/ESD/etc.) DIN EN 61 000 - 6 - 4 EmissionProtection class (DIN EN 60529): IP 66 (forhigherprotectionclass,pleasecontactourtechnicalstaff)

*) CW = increasing signal clockwise viewed looking towards the shaft**) CCW = increasing signal counter-clockwise viewed looking towards the shaft***) Ifgreatergatetimesarerequired,pleasecontactourtechnicalstaff.****) This value applies at maximum shaft load.



Technical data

Principle circuit diagram

Controller

Digitalisolator

CANdriver

DC

DC

CAN + CAN - CAN-GND +U -UB B

Bus in

Voltage monitoring

Bus out

Sensor systems

Switchingpowersupply

EMC-filter

Gal

vani

c se

para

tion

GND+5 Vs

System in general and Safety Slew rate power supply: 500 ms (10 % bis 90 %) Rate of messages: up to 1000 messages / s Time of storage cycles: 3 s per storage cycle Setup Time: 2 s

Time between error recognition and alarm (emergency message): 100 ms (power supply)

5s(RAMtest,singlebiterror) 2 s (ROM test during setup time) Safety data: MTTF > 100 a Safety-norms: EN61508,1to7:2010 EN 62061: 2005 EN ISO 13849-1: 2008 EN 60947-5-1: 2004 + A1: 2009



Interface according to the following specificationsCiADS301 CANopenApplicationLayerandCommunicationProfile,Version4.1

EN 50325-5 (CIADS304) CANopenFrameworkforsafety-relevantcommunication,Version1.0.1

CiA DS305 CANopen - Layer Setting Services and Protocol (LSS)

CiADS406 CANopen-DeviceProfileforEncoders,Version4.0.1

IEC 61508 Functional safety of safety-related electrical/programmable electronic systems.

SupplysourceforthelistedCANopenspecifications:CANinAutomation(CiA),Kontumazgarten3,D-90429Nürnberg,(E-mail:[email protected],www.can-cia.org)TheprofileisdescribedindetailintheNOC13100 user manual.

CANopen features

NMT master: No NMT slave: Yes Maximum boot up: No Minimum boot up: Yes COBIDdistribution: Default,SDO Node ID distribution: Via Index 2000 or LSS No of SRDO Position: 1 Tx No of SRDO Velocity: 1 Tx SRDO mode: Cyclic Variables SRDO mapping: No Emergency message: Yes Heartbeat: Yes No. of SDOs: 1 Rx/1 Tx

http://twk.de/data/pdf/13100_e0.pdf



Bus termination, output level

Output level according to ISO/DIS 11898

t

3,5CAN_H

CAN_L

2,5

1,5

Recessive Dominant Recessive

1) With common mode voltage = 0 V

Bus

leve

l / V

1)

5

1

2

3

4

0

Bus termination according to ISO / DIS 11898

* *

CAN_H

CAN_L

CAN_H

CAN_L

CAN-Bus

TWK-CANopen

Sub

scrib

er

Termination resistance (120 )*

Furth

erC

AN

open

Sub

scrib

er



1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310

data positionsLSB MSB

Data Byte 0 Data Byte 1 Data Byte 2 Data Byte 3

0 0 0 0 0 0 0 0

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310

data positions invertedLSB MSB


1 1 1 1 1 1 1 1

1 2 3 4 5 6 7 8 9 10 11 12 13 14 150

LSB

Data Byte 0 Data Byte 1

velocity valueMSB

SRDO 2

SRDO 1

1 2 3 4 5 6 7 8 9 10 11 12 13 14 150

LSB

Data Byte 0 Data Byte 1

velocity value invertedMSB

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310



0 0 0 0 0 0 0 0

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 310



PDO 1

PDO 2

0 0 0 0 0 0 0 0

SRDO data format for HBN/S3 (safety version)

SRDO data format , PDO data format

PDO data format for HBN/C3



Electrical connection TworoundconnectorsM12x1,pinandsocketforbusIN/OUT,5-pin,A-coded Refer to the tables below for the connection assignments; these are also enclosed with the devices.

Electrical connections, mating connector

Mating connectors (to be ordered separately)AllofthematingconnectorslistedinthefollowingtableareM12X1,5-pin,A-coded,withscrewclampconnection,withpro-tectiontypeIP67,withscreeningonthehousingandthemaximumconnectioncross-sectionis0.75mm².

Order number Contact design Connector design Housing material Cable Ø (mm)STK5GS56 Socket Straight Nickel-plated brass 4 - 6STK5GP90 Pin Straight Nickel-plated brass 4 - 6STK5WS58 Socket Angled Nickel-plated brass 4 - 6STK5WP102 Pin Angled Nickel-plated brass 4 - 6STK5GS107 Socket Straight Stainless steel 5.5 – 8.6STK5GP106 Pin Straight Stainless steel 5.5 – 8.6

Pleasenote:ifangledmatingconnectorsareused,pleasenotifyussothatthedeviceconnectorscanbealignedaccordingly.



Note: This is the contact assignment for the standard version. Other versions may have a different contact assignment. In this case,pleaseobserveconnectionassignmentTYenclosedwitheachdevice.

Different M12 connector combinations or assignments are possible at the request of the customer.

For the following description and pictorials is valid: Viewed looking at the PIN side of the connector installed in the HBN.

ThereisoneconnectorforBus-InandBus-OuteachfortheHBN.IfthereisonlyBus-In,thefemaleconnectorBus-Outisomitted.

Important:TherecommendedversionisV1withfullgalvanicseparation.ThisoffersmaximumEMCresistance,maximumCANopen data transfer security and thus maximum operating safety. Versions V2 and V3 are special versions which must be compatible with the structure (topology) of the CANopen bus system inthecustomerapplication(→controlsystemandotherCANopensubscribers).Operatingsafetyordatatransfersecuritymay otherwise be affected.

PIN Function1 CAN GND2 Operating voltage + UB

3 Operating voltage - UB

4 CAN_H5 CAN_Lfemale

12

34 5

PIN Function1 Screen (Cable / housing)2 Operating voltage + UB

3 Operating voltage - UB andCAN_GND4 CAN_H5 CAN_L

Connector S1 and S2 contact assignment for standard version

Version 1: CAN_GND and UB galvanically separated. Screening/housing galvanically separated

Version 2: CAN_GND and UB not galvanically separated. Screening/housing galvanically separated

Version 3: CAN_GND and UB not galvanically separated. Screening/housing not galvanically separated

male

Thisversionprovidescompletegalvanicseparation.PowersupplyandCAN_GNDisgalvanicallyseparated.Thehousingandthe screening of the cable is galvanically separated as well. The screening of the cable comes to the housing of the HBN via the housing of the mating plug.

Thisversionprovidespartlygalvanicseparation.PowersupplyandCAN_GNDarenot galvanically separated. The housing and thescreeningofthecablearegalvanicallyseparatedfrompowersupplyandCAN_GND.Thescreeningofthecablecomesto the housing of the HBN via the housing of the mating plug and/or Pin 1 of the connector. Please note the maximum voltage rating of the CAN interface IC on page 2.

female

12

34 5

male

This version provides no galvanic separation. PowersupplyandCAN_GNDarenot galvanically separated. The housing and the screening of the cable are notgalvanicallyseparatedfrompowersupplyandCAN_GND.Thescreeningofthecablecomesto the housing of the HBN via the housing of the mating plug and/or Pin 1 of the connector. Please note the maximum voltage rating of the CAN interface IC on page 2.

PIN Function

1 Screen (Cable / housing)- shorted to pin 3 -

2 Operating voltage + UB

3 Operating voltage - UB andCAN_GND- shorted to pin 1 -

4 CAN_H5 CAN_L

12

34 5

malefemale

1

4

23 5

1

4

23 5

1

4

23 5



Order number, Accessories

*) Thebasicversions(standard)accordingtothedatasheetbearthenumber01.Deviationsareidentifiedwithavariant number and are documented in the factory.

HBN 58 K A 65,536 R S3 S V1 N 01

01Electrical and mechanical variants *Standard

NOutput: CANopen

V1V2V3

Galvanic sepration (≠). See page 8:-VS ≠CAN_GND≠ screening/housing (recommended version)-VS =CAN_GND≠ screening/housing-VS =CAN_GND= screening/housing

SKx

Electrical connection:M12 connector (bus in/bus out)Cable,x=lengthinm

C3S3

Profile:CANopenaccordingtoCIA,DS406revision4.0.1CANopen Safety SIL2

RCode:Binary

Resolution:

steps / 360°1 to 4,063,232

AS

Housing material:AluminiumStainless steel

58 KKFKPKZSTSRSN

Flange type: Clampedflange,shaft10mmwithflattenedareaClampedflange,shaft10mmwithwoodruffkeyClampedflange,shaft10mmwithfeatherkeyClampedflange,shaftforplaycompensatingtoothedgearZRS(toothedgear,seeaccessories)Synchroflange,shaft6mmwithflattenedareaSynchroflange,clampedshaftfor12mm(torquesupport,seeaccessories)Synchroflange,clampedshaftfor12mmwithgrooveforfeatherkey(torquesupport,seeaccessories)

Design formModel: High resolution singleturn encoderHBN

-

Accessories (to be ordered separately) Fastening clamps for sensor assembly KL 66-2-S See data sheet MZ10111

Play-free clamping coupling for shaft connection KK14N WithgrooveforfeatherkeyaccordingtoDIN6885sheet1–JS9,seedatasheetKK12301

Toothed gear ZRS Play compensating toothed gear ZRS11877

Torque support/stator coupling for shaft offset compensation between the rotary encoder and drive ZMS58 Manufacturedfrompermanentlyelasticplastic,seedatasheetZMS12939

Please refer to the table on page 6 for the mating connector order numbers.

Reference: EDS-file,datasheet,manualanddrawingsareavailableonwww.twk.de




http://twk.de/data/pdf/12939_d0.pdf

http://twk.de



36

72 ±0.5

48 ±0.1

120°

M4x9

NILOS ring

10

10f7

ø36

f7ø58

-0.1

ø

30 ±0.5

Coding pin

Bus InSensor connector M125-polepins,A-codedaligned

Coding groove

Bus OutSensor connector M125-polesocket,A-codedaligned

62ca.34

ca.

9-0

.1

53-0

.1ø

Dimensions in mm

Standard design form: clampedflange,shaft10mmwithflattenedarea

Order number: HBN58 - KA 65,536 R S3 S N01

Installation drawing



36

72 ±0.5

48 ±0.1

120°

M4x9

NILOS ring

10

10f7

ø36

f7ø58

-0.1

ø

30 ±0.5

Coding pin


Coding groove


62ca.34

ca.

ADetail A

2 : 1

Groove forwoodruff keyDIN 6888-3x5

3 P9

10

53-0

.1ø

Dimensions in mm

Further possible design form: clampedflange,shaft10mmwithwoodruffkey

Order number: HBN58 - KFA 65,536 R S3 S N01





Dimensions in mm

Further possible design form: clampedflange,shaft10mmwithfeatherkey

Order number: HBN58 - KPA 65,536 R S3 S N01

36

72 ±0.5

48 ±0.1

120°

M4x9

NILOS ring

10

10f7

ø36

f7ø58

-0.1

ø

A

Detail A2 : 1

Groove forfeather keyDIN 6885 A 3x3x10

30 ±0.5

Coding pin


Coding groove


62ca.34

ca.

53-0

.1ø

3 N9

10+0

.2

8



36

72 ±0.5

48 ±0.1

120°

M4x9

NILOS ring

10

36f7

ø58-0

.1ø

Coding pin


Coding groove


62ca.34

ca.

36 ±0.517

ø11-0

.1

12 f6ø10,4 -0.1ø

53-0

.1ø

Dimensions in mm

Further possible design form: clampedflange,shaftforplaycompensatingtoothedgearZRS (toothedgear,seeaccessories)

Order number: HBN58 - KZA 65,536 R S3 S N01




42 ±0.1

120°

NILOS ring

50f7

ø

Coding pin


Coding groove


72ca.34

ca.

5.5

-0.1

58-0

.1ø

14 ±0.5 78 ±0.5

63

4

6 f7ø

53-0

.1ø

M4x9

Dimensions in mm

Further possible design form: synchroflange,shaft6mmwithflattenedarea

Order number: HBN58 - STA 65,536 R S3 S N01




42 ±0.1

120°

NILOS ring

50f7

ø

Coding pin


Coding groove


72ca.

34ca

.

58-0

.1ø

78 ±0.5

63

4

53-0

.1ø

18.5 ±0.5

Clamping shaftDi = 12 H7

Insertion depth: 16 mm

17ø15 h7ø

8

30

Clamping ring (Aluminium)

15

M4x9

Dimensions in mm

Further possible design form: synchroflange,clampedshaftfor12mm(torquesupport,seeaccessories)

Order number: HBN58 - SRA 65,536 R S3 S N01




42 ±0.1

120°

NILOS ring

50f7

ø

Coding pin


Coding groove


72ca.34

ca.

58-0

.1ø

78 ±0.5

63

4

53-0

.1ø

18.5 ±0.5

Clamping shaftDi = 12 H7

Inserting depth: 16 mm

17ø16 h7ø

816

30

Clamping ring (Aluminium)

A

Detail A2 : 1

1x groove forfeather key

4x4xXX4 H7

9.5

M4x9

Dimensions in mm

Further possible design form: synchroflange,clampedshaftfor12mmwithgrooveforfeatherkey (torquesupport,seeaccessories)

Order number: HBN58 - SNA 65,536 R S3 S N01


High resolution bsolute single-turn rotar encoder Date: 03 ... · Date: 03.04.2018 Page 4 of 16...

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Transcript of High resolution bsolute single-turn rotar encoder Date: 03 ... · Date: 03.04.2018 Page 4 of 16...