Specialist Rotary Encodersdata.hpt.com.tw/Koyo/Catalog/EncodersCatalogEn(V5.x).pdf · Specialist...

IP65

ø38

ø40

ø50

ø78

ø38

P12

P16

P16

P12

P30

P30

P33

P36

P36

P33

P33

P21

P21

P21

P21

P21

P21

P26

P26

P16

P16

ø50

ø50

ø78

ø78

ø50Wide variation of stan-dard models

Large-scale machinery, equipment, and heavy industry

Directly connected to shaft without a coupling

Directly connected to shaft without a coupling

Compact machinery and devices

Large-scale machinery, equipment, and heavy industry

Specially-shaped cable and connectors to save space

OK even in water-spla-shed environments

Compact

TRD-S series

10 to 2,500 pulses/rotation

Dust proof

Compact, slim design

TRD-N series


Standard low cost

Environmentally-hardened IP65

Dust proof plastic case

Dust and splash proof die-cast case

Incremental type

Pulse output depends on rotation angle

Incremental encoder slit plate

Compact, standard-use

Rear-mounted cable connection

Dust and splash proof rear-mounted cable connection

TRD-J series


Standard type


No rear space for cable

Low cost



Side-mounted cable connection

Dust and splash proof side-mounted cable connection

Connector

Dust and splash proof connector

Connector connection Environmentally-hardened IP65

Dust and splash proof rear-mounted cable connection

Dust and splash proof connector

Standard applications


Connector connection

Large and powerful shaft loads


Compact hollow shaftDust proof plastic case

TRD-SH series

TRD-GK series



Shaft diameter ø8

Hollow shaftDust proof plastic case


TRD-NH series



Environmentally-hardened IP65Shaft diameter ø8

Absolute type

Absolute encoder slit plate

Dust and splash proof cable mounting

Dust and splash proof with intermediate connectors

Compact

TRD-NA series

32 to 2,048 resolution/rotation

Standard applicationsEnvironmentally-hardened IP65

With connector at cable tip


Dust and splash proof with intermediate connectors

Dust and splash proof connectors

Large and powerful shaft loads

TRD-K series180 to 1,024 resolution/rotation


Environmentally-hardened IP65 Connector connection

With connector at cable tip


Dust and splash proof connectors

Large-scale, environmentally hardened space-saving

TRD-KL series180 to 1,024 resolution/rotation

Solid aluminium die-cast case Connector connection

Outputs absolute po-sition signal depend-ing on rotation angle

Compact machinery and devices

Compact metal case

New standard in space-saving mountings

ø48Vibration-resistantthrough shaftø8 Through shaft□ 23 Ultra-fine hollow shaft

Specifications changed based on standard product

Custom-made specifi-cationst

Special products

Custom-made to your own specifications

Special specifications

Example of custom specifications

No. of pulses, output type, shaft diameter and length, cable length, etc.

Servomotor applications

General applications

ø35 Pulse counter absolute encorders ø35 Multi-turn absolute encorders

ø102 Operates in cold storagetø78 Equipped with self-diagnostic function

ø68 Powerful load talentø100 Powerful through load


with short circuit protection

TRD-S

TRD-N

TRD-N - W

TRD-SH

TRD-NA

TRD-NA E

TRD-K -YS

TRD-KL -Y

TRD-KL -YC2

TRD-K -YC2

TRD-K -YPS

TRD-J

TRD-J - W

TRD-J - S

TRD-J - WS

TRD-J - C

TRD-J - CW

TRD-GK

TRD-GK - C2

TRD-NH

TRD-NH - W

P14Compact

TRD-2E series


TRD-2E

Specialist Rotary Encoders

TRD-KL

TRD-K

TRD-NA

TRD-NH

TRD-SH

TRD-GK

TRD-J

TRD-N

TRD-S

TRD-MX

TRD-2E

Select Freely to Suit

Your Application

1

ø25P10

Series/Resolution Diameter (mm)···Dust and splash proof IP65

Model egaPepyTCompact

TRD-MX series Dust proofCompact machinery and devices

TRD-MX


SAFETY PRECAUTIONNotation Used in This CatalogThe following indications are used in this catalog to allow safe use of products.

The following safety precautions must be obeyed for handling of products noted in this catalog.

Symbols This symbol represents acts that are generally prohibited.

This symbol represents items that are compulsory or prescribed.

Safety Precautions

Caution Ignoring this indication and improperly handing the product can lead to injury or physical damage to property.

Warning Ignoring this indication and improperly handing the product can lead to a major malfunction possibly resulting in death or serious injury.

Warning

Warning

[Environment and conditions of use]

Do not use in an environment where there is a possibility of combustion or explosion. Doing so may lead to accident involving death or injury or a fire.

Do not use this product for applications related to human safety. Use the product only for applications that will not lead to human injury even in the event of an accident or malfunction.

Use and manage the product within the environmental ranges (vibration, impact, temperature,humidity, etc.) dictated in the specifications. Improper use may lead to a fire or damage to the product. Thoroughly understand the product before using it.

Understand your product well before use.

Caution

Caution

[Installation and wiring]

Do not use with a power-supply voltage other than that noted in the specifications. Doing so may lead to a fire, electric shock, or a malfunction.

Do not mis-wire products. Doing so may lead to a fire or malfunction.

Use the wiring and configuration dictated in the specifications. Not doing so may lead to a fire or malfunction.

Do not use wiring methods that subject wiring to stress. Doing so may lead to electric shock or a fire.

Perform wiring with power to the power source cut off. Not doing so may lead to electric shock or a malfunction.

2

SAFETY PRECAUTION

[For use]

Do not place near combustibles. Doing so may lead to a fire.

Do not insert inappropriate items in product openings. Doing so may lead to electric shock or a malfunction.

Do not use in methods other than as dictated in the specifications. Doing so may lead to an accident involving death or injury or a malfunction.

[For maintenance]

Do not repair or disassemble the product. Doing so may lead to a fire, electric shock, or a malfunction.

Maintenance and inspection should be performed with power to the power source cut off. There is a danger of electric shock when working with power supplied to the power source.

[For dispose]

Use caution to follow the waste disposal policy of individual country in case of discarding the product.

A Request Regarding Use Handling of our products is designed with the object of their use as general electronic equipment. Do not use products for applications where a high level of reliability is needed with regard to human life. In addition, please contact our Sales Division beforehand when considering use of the products in environments or under conditions other than those in specifications for general electronic equipment or for use in units related to safety and control of transportation equipment (trains, automobiles, etc.), traffic signal equipment, fire-fighting/fire prevention equipment, or the like.

Warning

Warning

Caution

Caution

3

Please be advised beforehand that the contents of this catalog may change without warning due to product modifications. When exporting these products, prescribed procedures must be followed in accordance foreign exchange and export trade control laws.

Corresponding CE Marking

Conformity with the EMC Directive is as follows:

EMC Directive Conformity specification ------ EMS: EN61000-6-2

Appropriate models TRD-S/SH seriesTRD-2E seriesTRD-N/NH-RZ series (Not for TRD-N/NH-S series)TRD-J-RZ series (Not for TRD-J-S series)TRD-GK seriesTRD-NA series

4

We acquired ISO14001 certification from certificationorganization BVQI, which authorized by authorizationorganization UKAS, at England form December 29, 2000.

ISO14001

We acquired ISO9001 certification from certificationorganization BVQI, which authorized by authorizationorganization UKAS, at England form October 12, 1995.

ISO9001

October 12, 1995 (for ISO9001:1994)April 16, 2003 (for ISO9001:2000)

Headquarters (Tokyo) and Ohizumi Factory (Yamanashi)

Programmable ControllersElectronic CountersDigital TachometersProgrammable CamsProximity SensorsRotary EncodersProgrammable DisplaysElectronic Control Systems for Factory Automation (FA)Automotive and Electronic Control Instruments

BVQI(Bureau Veritas Quality International)

102881

:

:

:

:

:

Date of Accreditation

Target Factories

Target Products

Inspecting Agency

Ce r t i f i ca te No .

Acquisition of ISO9001 / ISO14001 Certification

December 29, 2000

Headquarters (Tokyo) and Ohizumi Factory (Yamanashi)

BVQI(Bureau Veritas Quality International)

289936

:

:

:

:

Date of Accreditation

Target Factories

Inspecting Agency

Ce r t i f i ca te No .

5

The pinch roll spins at certain timing and wrap over the sheet ontoa board when photoelectric sensor 1 detects front edge of theboard carried through conveyer. The cutter cuts off the sheet whenthe photoelectric sensor 2 detects back edge of the board. A rotaryencoder is used to count the pulse in order to set the front edge ofnext sheet for next board carried through conveyer.

Application Examples

Crane Control

A rotary encoder is used to sense wire extension and contraction,turns, inclination, and boom extension and contraction. A proximitysensor is used to sense the width of leg deployment.

The photoelectric sensor generates pulse signals when aworkpiece starts to cover its light. The pulse frequency is halvedby the frequency demultiplier then processed by the rotaryencoder for counting. The workpiece is centered when the counthas reached a preset number.

Detecting the Center of Workpieces

As the feed roller rotates, the workpiece is moved to a presetdistance. The number of rotations is converted to the number ofpulses by the rotary encoder, and counted by the electroniccounter. When the count has reached a preset number, thecounter generates a signal to activate the stamp.

Marking at Same Intervals

The programmable cam and rotary encoder are used to control theposition of a NC machine. Modifying the cam switch configurationallows you to use different types of work-pieces.

Positioning a NC Machine Printer Offset Control

The rotary encoders are used to detect the moving distance A andmoving distance B for adjusting the offset position. The movingdistance B is detected in pulse by using the threaded rod.

Wrap Over System

Feed motorFeed roller

Rotaryencoder

Electroniccounter

Solenoid

Stamp Presetinterval

Detect roller

Photoelectricsensor

Frequencydemultiplier (1/2)

Gate

Rotaryencoder

Electronic counter

Rotaryencoder

Programmable cam Rotary encoder

Rotaryencoder

Rotary encoder

Proximity sensor

Rotary encoderPH······ Photoelectric sensor

Conveyer

Sheet

Cutter

Master

RollerBlankPaper

Printed paper

6

Application Examples

The programmable cam and rotary encoder provide overall controlof the entire bottling processes. Filling bottles, capping, andlabeling can be controlled from a single turntable. The table can bealso controlled to avoid angular deviations.

Controlling Bottling Machine

Along with the programmable cam, the rotary encoder controls thetiming of filling containers, their positions and the timing oftransferring filled containers. The use of the cam switch and theencoder allows easy positioning and quick adjustment ofmachines.

Controlling Filling Timing

As the threaded rod rotates, the material is fed according to apreset length. The number of rotations is converted to the numberof pulses by the rotary encoder then counted by the electroniccounter. When the count has reached a preset number, it stopsthe motor that controls the spacing.

Spacing Rolled Materials

Cutting Materials to Uniform Length

The number of rotations is converted to the number of pulses bythe rotary encoder, and counted by the electronic counter. Whenthe count has reached a preset number, the cutter is activated tocut the material to a fixed length.

Elevator Speed Control

The rotary encoder is directly connected to the detect roller of theelevator. When the elevator moves, the roller rotates by the wallsurface, and this rotation is converted to pulses by the rotaryencoder. The moving speed is controlled to make smoothacceleration, deceleration, and stopping, through the use of thedetected pulse from this encoder.

Stopping at a Regular Interval

Convert the amount of a rotation of feeding roller into pulse by rotaryencoder, and count the pulse by electronic counter. An output signal isgenerated when the count has reached a preset number, then the feedingroller stops and the hammer drives at once. The hammer stops and waitsat top dead centre till next tacking position come by synchronous control ofproximity switch and dog disc attached on the crank shaft.

Filling

Capping

Labeler

Rotaryencoder

Programmable cam

Rotaryencoder

Filler

Programmablecam

Motor

Rotary encoder

Electronic counter

Cutter

Fixed length

Rotary encoder

Servo motor

Rotary encoder

Electronic counter

Roller mill

MotorControlboard

Proximity sensor

Rotaryencoder

Electronic counter

Controlboard

Clutchbrake

Clutch brake

7

8

ListRo

tary

Enc

oder

s

612121 16

Type Incremental

TRD-S seriesTRD-MX series

ø38 30 mm Diameter of shaft: ø6 mm


ø38 30 mm Diameter of the other shaft: ø8 mm

seires N-DRTseires HS-DRT



ø50 35 mm Diameter of the other shaft: ø8 mm

Series

Appearanceof basic model

Features

TRD-NH series

Resolution )noitulover/eslup( 0005 ot 1)noitulover/eslup( 0052 ot 01)noitulover/eslup( 0052 ot 01100~1024 (pulse/revolution) 1 to 5000 (pulse/revolution)

Signal output Two-phase A and B + Phase ZTwo-phase A and B + Phase Z Two-phase A and B + Phase Z

10 to 3600 (pulse/revolution)

Two-phase A and B + Phase ZOne-phaseTwo-phase A and B + Phase Z

One-phaseTwo-phase A and B + Phase Z

Max. response frequency

200 kHz100 kHz 100 kHz 100 kHz200 kHz

Max. allowable revolution

6000 rpm 6000 rpm6000 rpm

200 kHz

5000 rpm 5000 rpm 5000 rpm

Source voltageExcluding TRD-N V:4.75 to 30 VDC

TRD-N V:5VDC± 5%

Excluding TRD-NH V:4.75 to 30 VDC

TRD-NH V:5VDC± 5%

Output type

Max.loadto shaft Thrust

Radial N 05N 05N 02N 02

N 03N 03N 01N 01

Initial torque 0.001 N•m max. 0.001 N•m max.Dust proof: 0.003 N•m max.

Dust and splash proof: 0.02 N•m max.

Dust proof: 0.003 N•m max.

Dust and splash proof: 0.05 N•m max.

IP50: Dust proofedIP65: Dust and splash proofed

IP50: Dust proofedIP65: Dust and splash proofedProtection

Operatingtemperature –10 to +70°° C –10 to +70° 07+ ot 01–C °C –10 to +70°C

Reference page

Hollow shaft Hollow shaft

NPN open collector output

Line driver output

30 N

20 N


Line driver output


Line driver output


Line driver output

10 N

5 N

IP40: Simple dust proofed IP40: Simple dust proofed

0.01 N•m max.

–10 to +70°C

IP54: Dust and splash proofed

Able to connect directly to the othershaft without using a coupling.Slim design with only 35 mm depthSelect protective design to suitoperating environment.Wide range of resolutionsSolid ø8-mm shaftSource voltage ranging from 5 to30 VTotem-pole output facilitating cable extension

Small body with only 35 mm depthProtection options to meet environmental requirementsWide range of resolutionø8 mm thick reinforced shaftSource voltage ranging from 5 to 30 VTotem-pole output facilitating cable extension

Able to connect directly to the other shaft without using a coupling.Slim design: ø38-mm outer diameter and 30-mm depthSmall diameter lineup up to 2,500 P/RLow cost contributes to system-wide cost reductions.200-kHz high-speed responseWide range of resolutions

Slim design: ø38-mm outer diameter and 30-mm depthSmall diameter lineup up to 2,500 P/RLow cost contributes to system-wide cost reductions.200-kHz high-speed responseWide range of resolutions

Totem-pole output with partial load short circuit protection

Line driver output

Totem-pole output with partial load short circuit protection

Line driver output

14

TRD-2E series

Slim design: ø40-mm outer diameter and 36-mm depthSmall diameter lineup up to 2,500 P/RDust and splash proofed200-kHz high-speed responseWide range of resolutions

TRD-S A: 5 to 12 VDC±10%TRD-S B: 12 to 24 VDC±10%TRD-S V: 5 VDC±5%

TRD-MX A:DC5~12V±10%TRD-MX B:DC12~24V±10%TRD-MX V: DC5V±5%

TRD-SH A: 5 to 12 VDC±10%TRD-SH B:12 to 24 VDC±10%TRD-SH V: 5 VDC±5%

TRD-2E A: 5 to 12 VDC±10%TRD-2E B:12 to 24 VDC±10%TRD-2E V: 5 VDC±5%

List of KOYO Rotary Encoders Only the basic models are listed below.For other models, refer to the description of each series.

ø4-mm thick shaft and 29 mm body Source voltage:DC5~12V/12~24V/5VSmall diameter lineupup to 1024 P/R100-kHz high-speed response

0.001 N•m max.

IP50: Dust proofed

–10 ~ +70 C

10

9

List

Rota

ry E

ncod

ers

6333036212

One-phaseTwo-phase A and B + Phase Z Gray binary code (11 bits max.) Gray binary code (10 bits max.) Gray binary code (10 bits max.)

Absolute

TRD-J series


TRD-GK series


TRD-NA series


TRD-K series


TRD-KL series


10 to 1000 (pulse/revolution)10 to 5000 (pulse/revolution)

(BZ: 100 to 5000 pulse/revolution)32 to 2048 (resolution/revolution) 180 to 1024 (resolution/revolution) 180 to 1024 (resolution/revolution)

Two-phase A and B + Phase Z

(BZ: Normal/Reverse + Phase Z)

zHk 02zHk 001zHk 05

5000 rpm 5000 rpm

zHk 02zHk 02

3000 rpm 5000 rpm 5000 rpm

10 to 30 VDC 10.8 to 26.4 VDC 10.8 to 26.4 VDC 10 to 30 VDC

Totem-pole structure preventing partial load short circuit

Line driver outputOpen collector NPN NPN rotcelloc nepOPNP ro NPN rotcelloc nepO

N 07N 001N 05N 001N 05

N 04N 05N 03N 05N 03

Dust proof: 0.003 N•m max.

Dust and splash proof: 0.05 N•m max.0.1 N•m max. 0.03 N•m max. 0.1 N•m max. 0.1 N•m max.

IP50: Dust proofed

IP65: Dust and splash proofedIP65: Dust and splash proofed IP65: Dust and splash proofed IP65: Dust and splash proofed IP65: Dust and splash proofed

–10 to +50°C –10 to +70°C –10 to +60°C –10 to +50°C –10 to +60°C

Side cable and connector for minimum spaceAbsolute positioningResolution of up to 10 bits or 1,024Reinforced aluminum diecast casingDust and splash proofedAccurate Gray codeVibration and shock resistant metal slit plate

Absolute positioningResolution of up to 10 bits or 1,024Strong shaft and durable bearingDust and splash proofedAccurate Gray codeVibration and shock resistant metal slit plate

Absolute positioningDust and splash proofedSmall body with only 35 mm depthReinforced aluminum diecast casingAccurate Gray codeVibration and shock resistant metal slit plate

Strong shaft and durable bearingQuick response at 100 kHzOperating temperature ranging from –10 to +70°CDust and splash proofedTotem-pole output facilitating cable extension

ø8 mm thick shaft and 50 mm bodyVibration and shock resistant metal slit plateSource voltage ranging from 5 to 30 VTotem-pole output facilitating cable extension

Totem-pole structure preventing load short circuit

Excluding TRD-J : 4.75 to 30 VDC

TRD-J V: 5 VDC±5%

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

10

TRD-MX Series Incremental EncodersFeatures

Model numbering systemTRD-

Series

Pulse/revolution

Model A: Source voltage 4.5 to 13.2 VDC, open collector output B: Source voltage 10.8 to 26.4 VDC, open collector output V: Source voltage 4.75 to 5.25 VDC, line driver output

Pulse and frequencies

Electrical specifications

“H”

“L”

Model

Power source

Power source voltage

Current consumption

Allowable ripple

CDV 52.5 ot 57.4CDV 2.31 ot 5.4 10.8 to 26.4 VDC

3% rms max. 3% rms max.

.xam Am 05.xam Am 05

noitisop emoh + esahp-owTnoitisop emoh + esahp-owT

50 ± 05%52 ± 25%

25 ± 52%5.21 ± 12.5%

Duty ratio

Signal width at home position 100 ± 001%05 ± 50%

Output

Output type

Load power voltage

Output voltage

Output currentlnflow

Outflow

Rise / Fall time

Line-driver*

2.5 V min.

0.4 V max.

(Max response frequency/revolution)x60 (Max response frequency/revolution)x60

0.5 V max.

20mA max.30 mA max.

30 VDC max.

* Equivalent to 26C31, lever is equivalent to 26C32.

Signal waveform

Phase difference width


Maximum response frequency

Output logic Negative logic (active low)

2 µs max. (when cable length is 1 m at max. load) 2 µs max. (when cable length is 1 m at max. load)

Positive logic (active high)

TRD-MX A

10

100

20

200

36

360

50

500

50

512

60

600

100

1000 1024

100

TRD-MX A TRD-MX B TRD-MX V

TRD-MX B

TRD-MX V

Pulse/revolution

Max. response frequency (kHz)*

Applicablemodels

Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/Pulse) 60The encoder does not respond to revolution faster than the maximum speed.

*

AMX

TRD-MX A

TRD-MX B

TRD-MX V

100,200,360,500,

512,600,1000,1024,

Source voltage

4.5 to 13.2 VDC

10.8 to 26.4 VDC

4.75 to 5.25 VDC

Model number noitulover/esluPepyt tuptuOtuptuOecnaraeppAepyT

Shaft

2-phase with home position in reverse operation

2-phase with home position in forward operation

Open collector output

Line driver output

List of model numbers

Pulse 100, 200, 360, 500, 512, 600, 1000, 1024P/RSource voltage DC5 to 12V/12 to 24V/5VMax allowable revolution 6000rpmSignal output type 2 phase output and Home positionOutput type NPN open collector output Line driver outputProtection IP50(Dust proofed)

Small body with 25mm outer diameter/29mm depth/4mm shaft diameter.Resolution 1,024P/R. Output type open collector and line driver.

Rota

ry E

ncod

ers

11

TRD-MX series

Mechanical specifications

Moment of inertia

Allowable load

Maximum allowable speed (Note 1)

Cable

Weight

Note 1: Highest speed that can support mechanical integrity of the encoder

Initial torque 0.001 N•m (+20°C) max.

1 10–7kg • m2

Radial : 10 N

Thrust : 5N

6000 rpm

External diameter ø5 mm

5-wire oil resistant PVC cable

Nominal section area of core: 0.14 mm2

(Line driver output: 8 cores, 0.14 mm2)

Approx. 80 g

Environmental requirementsAmbient temperature

Storage temperature

Operating humidity

Voltage withstand

Insulation resistance

Vibration resistance

Shock resistance

Protection

–10 +70°C

–25 +85°C

35 to 85% RH (with no condensation)

Removed for capacitor earth

20 MΩ min.

Durable for one hour along three axes at 10 to 55 Hz with 0.75 mm amplitude

11 ms with 490 m/s2 applied three times along three axes

IP50 (Dust and splash proofed)

Channel timing chart

T(100%)

L

H

L

H

L

OUT A

OUT B

OUT ZH

a, b, c, =1/4T±1/8T

a b c d

T(100%)

d c b a

T(100%)

L

H

L

H

L

OUT A

OUT B

OUT ZH

a b c d

T(100%)

d c b a

Normal revolution Reverse revolution

"Normal" means clockwise revolution viewed from the shaft.


TRD-MX ATRD-MX B

TRD-MX V

Open collector output circuit

Maincircuit

Power source

Outputs A, B and Z

0 V shield (ground)

Open collector connections

White: OUT B

Orange: OUT Z

Shield: Ground

Black: OUT A

Brown: Power source

Blue: 0 V

External Dimensions (in mm)

Line driver output circuit

OUT

OUT

OUT A/B/ZOUT A/B/Z

0V

26C32

"H"

26C31

26C31 or equivalentPower source 4.75 to 5.25 VDC

The line driver can use a RS-422A compliant twisted pair cable of up to 1,200 m.

Output signal turns to "H" level when the cable or connector is disconnected.

Internal circuit

Shield

Disconnected

Line driver (26C32 or equivalent)

Terminator resistance: Several tens to hundreds Ω


Shielded cable is not connected to the encoder body.

Line driver connections

Purple: OUT A

White: OUT B

Shield: Ground

Black: OUT A

Blue: 0 V

Brown: Power source

Gray: OUT B

Orange: OUT Z

Yellow: OUT Z


TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

12

TRD-S/SH Series Incremental EncodersFeaturesShaft and Hollow Shaft type are available.Small body with 38mm diameter and 30mm depth.Compact design but the lineup reaches 2,500P/R.Protection degree IP40. (simple dust proof)

TRD-S A

TRD-S B

TRD-S V

4.5 to 13.2 VDCTRD-SH A

10.8 to 26.4 VDCTRD-SH B

4.75 to 5.25 VDCTRD-SH V

* 10, 20, 30, 40, 50, 60,

100, 200, 250, 300,

360, 400, 500, 512,

600, 800, 1000, 1024,

1200, 2000, 2500

Source voltage

4.5 to 13.2 VDC

10.8 to 26.4 VDC

4.75 to 5.25 VDC


Shaft

Hollowshaft






Line driver output


Line driver output


Model numbering system

TRD- S A Series

S: Shaft SH: Hollow shaft

Pulse/revolution




“H”

“L”

Model

Power source


Current consumption

Allowable ripple

CDV 52.5 ot 57.4CDV 2.31 ot 5.4 10.8 to 26.4 VDC

3% rms max.

.xam Am 05.xam Am 05

noitisop emoh + esahp-owTnoitisop emoh + esahp-owT

zHk 002zHk 002

50 ± 05%52 ± 25%

25 ± 52%5.21 ± 12.5%

Duty ratio

Signal width at home position 100 ± 001%05 ± 50%

Output

Output type

Load power voltage

Output voltage

Rise / Fall time

Line-driver*

2.5 V min.

0.4 V max. 0.5 V max.

30 mA max.

30 VDC max.

* Equivalent to 26C31, lever is equivalent to 26C32.

Signal waveform

Phase difference width


Maximum response frequency

Influx current

Output logic Negative logic (active low)

1 µs max. (when cable length is 1 m)

Positive logic (active high)

V HS-DRT / V S-DRTA HS-DRT / A S-DRT TRD-S B / TRD-SH B

TRD-S A/TRD-SH A

TRD-S B/TRD-SH B

1

10

2

20

3

30

4

40

5

50

6

60

10

100

20

200

25

250

30

300

36

360

50

500

60

600

80

800

100

1000

100

1024

120

1200

200

2000

200

2500

TRD-S V/TRD-SH V

40

400

50

512Pulse/revolution


Applicablemodels


*

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

13

TRD-S/SH series


Moment of inertia

Allowable load


Cable

Weight



0.3 10–6kg•m2

Radial:20 N

Thrust:10 N

6000 rpm





Approx. 100 g


Storage temperature

Operating humidity

Voltage withstand



Shock resistance

Protection

–10 to +70°C

–25 to +85°C


500 VAC (50 Hz/60 Hz) for one minute

50 MΩ min.



Simple dust protection: IP40


T(100%)

L

H

L

H

L

OUT A

OUT B

OUT ZH

a, b, c, =1/4T±1/8T

a b c d

T(100%)

d c b a

T(100%)

L

H

L

H

L

OUT A

OUT B

OUT ZH

a b c d

T(100%)

d c b a



Normal revolution Reverse revolutionTRD-S V/TRD-SH V

TRD-S A/TRD-SH ATRD-S B/TRD-SH B

Open collector output circuit

Maincircuit

Power source

Outputs A, B and Z

0 V shield (ground)

Open collector connections

White: OUT B

Orange: OUT Z

Shield: Ground

Black: OUT A

Brown: Power source

Blue: 0 V


120°

120°

15°

ø28

45°

ø28

45

φ28

φ38

30

10

0.5

4

12 3

24

0.02

φ20

0.01

2φ6

Four M3 screws holes (Depth: 6)

Installation surface

Bore diameter: ø20 +0.02 0

Bore diameter: ø20 +0.02 0

Bore diameter: 3-ø3.5


Mounting hole panel cutout (3 holes) Mounting hole panel cutout (2 holes)


OUT

OUT

OUT A/B/ZOUT A/B/Z

0V

26C32

"H"

26C31




Internal circuit

Shield

Disconnected





Line driver connections

Purple: OUT A

White: OUT B

Shield: Ground

Black: OUT A

Blue: 0 V

Brown: Power source

Gray: OUT B

Orange: OUT Z

Yellow: OUT Z


φ38

A

φ45

φ12

2–M3

Section A–A

15

3

3

30

12

6

3.6

52

φ8

0

10 0 –0.5

A

2 M3 mounting holes

Cable diameter ø5 Standard 1 m

V HS-DRT/B HS-DRT/A HS-DRTV S-DRT/B S-DRT/A S-DRT

MountingPoint shape

Axial shift

Perpendicularaxial shift45

2-M3

Less than 10 0.08

Blade springmounting point

-0

.006

φ8

-0.0

14

0.02

0.02

0.1

0.1

R22

.5

Rota

ry E

ncod

ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

14

TRD-2E Series Incremental EncodersFeaturesSmall body with 40 mm diameter and 36 mm depthProtection against reverse connection and short circuitProtection degree IP54 (dust and splash proof)

TRD-2E A

TRD-2E B

TRD-2E V

* 10, 20, 30, 40, 50, 60, 100, 200, 240, 250, 300, 360, 400, 500, 512, 600, 800, 1000, 1024, 1200, 2000, 2500

Source voltage

4.5 to 13.2 VDC

10.8 to 26.4 VDC

4.75 to 5.25 VDC


Shaft




Line driver output



TRD- 2E A Series

2E: Shaft

Pulse/revolution



Electrical Specifications

TRD-2E A

TRD-2E B

1

10

2

20

3

30

4

40

5

50

6

60

10

100

20

200

25

250

30

300

36

360

50

500

60

600

80

800

100

1000

100

1024

120

1200

200

2000

200

2500

TRD-2E V

40

400

50

512

24

240

200

3600Pulse/revolution


Applicablemodels


*

V E2-DRTB/A E2-DRTrebmun ledoM

Operating voltage*1 A: 4.75 to 13.2VDC 4.75 to 5.25VDC

Allowable ripple

B: 10.8 to 26.4VDC

Current consumption

Less than 3% rms Less than 3% rms

Signal type

Less than 50mA Less than 50mA

Max. response frequency

Two-phase + home position Two-phase + home position

Max. response revolution

zHk002zHk002

Duty ratio

(Max. response frequency/Resolution) x 60 (Max. response frequency/Resolution) x 60

Signal width at hope position

50+– 05%52 +–25%

Rise/Fall time

100+– 001%05 +–50%

Output type

Less than 1µs (when cable length is 1m) –

Output logic

NPN open collector output Line driver output (equivalent to 26C31)

Inflow

Negative logic (active low) Positive logic (active high)

Outflow

–Am03 .xaM

"H"

––

"L"

Output current

Output voltage.nim V5.2–

Load power voltage

.xam V5.0.xam V4.0

Short circuit protection

–CDV03 naht sseL

Power source

Singnal waveform

Output

Between output and power source –*1 To be supplied by Class II source.

3600

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

15

TRD-2E series


Moment of inertia

Allowable load


Cable

Weight



0.3 10–6kg•m2

Radial:20 N

Thrust:20 N

5000 rpm




(Line driver output: 8-wire, 0.14 mm2)

Approx. 110 g (with 1m cable)


Storage temperature

Operating humidity

Voltage withstand



Shock resistance

Protection

–10 to +70°C

–25 to +85°C


500 VAC (50 Hz/60 Hz) for one minute

50 MΩ min.



Dust and splash proof : IP54

Channel timing chart Open collector output circuit Open collector connections




Line driver connectionsShielded cable is not connected to the encoder body.

OUT A

OUT B

OUT Z

T

a b c d

HLHL

HL

a, b, c, d = 1/4+–1/8T

TRD-2E A/B

OUT A

OUT B

OUT Z

HLHL

HL

OUT A

OUT B

OUT Z

HLHL

HL

T

a b c d

TRD-2E V

Maincircuit

Power source

Outputs A, B and Z

0 V shield (ground)

White: OUT B

Orange: OUT Z

Shield: Ground

Black: OUT A

Brown: Power source

Blue: 0 V

OUT A/B/ZOUT A/B/Z

0V


Purple: OUT A

White: OUT B

Shield: Ground

Black: OUT A

Blue: 0 V

Brown: Power source

Gray: OUT B

Orange: OUT Z

Yellow: OUT Z

Three M3 screw holes (Depth: 7)

1

120°

120°

15

10

5 36

ø20

0 -0.0

21

ø30+–0.2

ø6 0 -0

.012

ø40

13

9Cable diameter ø5 Standard 1 m

Normal means clockwise revolution viewed from the shaft. Ro

tary

Enc

oder

sTR

D-S/

SHTR

D-M

XTR

D-2E

TRD-

N/NH

TRD

-JIn

crem

enta

lTy

peAb

solu

teTy

peTR

D-G

KTR

D-N

ATR

D-K

TRD

-KL

16

Shaft and Hollow Shaft type are available.Compact body with 50mm diameter and 35mm depth.Wide range of resolution from 1 to 5,000P/R.Protection degree IP50 (dust proof) or IP65(Dust andsplash prrof).Wide voltage ranging from 4.75 to 30VDC.Servo mounting is available for easy installation

Features

Two-phase with home position in normal operation

3, 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000, 2500, 3600, 5000

1, 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, 1000

1, 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, 10003, 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000, 2500, 3600, 5000

1, 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, 10003, 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000, 2500, 3600, 5000

1, 3, 4, 5, 10, 20, 30, 60, 100, 120, 200, 300, 360, 500, 600, 10003, 4, 5, 10, 20, 30, 40, 50, 60, 100, 120, 200, 240, 250, 300, 360, 400, 480, 500, 600, 750, 1000, 1200, 2000, 2500, 3600, 5000

Type

Dust proofed

Dust and splash proofed

noitulover/esluPtuptuOrebmun ledoMecnaraeppA

One-phase

One-phase

One-phase

One-phase




Two-phase with home position in reverse operation




ABS plastic cover

Dust proof hollow shaft

Dust and splash proof Hollow shaft

Aluminiumdie-cast cover

ABS plastic cover

Aluminiumdie-cast cover

TRD-N -RZ

TRD-N -RZW

TRD-N -RZL

TRD-N -RZWL

TRD-N -S

TRD-N -SW

TRD-NH -RZ

TRD-NH -RZW

TRD-NH -RZL

TRD-NH -RZWL

TRD-NH -S

TRD-NH -SW

Two-phase with home position in normal operationTRD-N -RZV

Two-phase with home position in normal operationTRD-N -RZVW

Two-phase with home position in normal operationTRD-NH -RZV

Two-phase with home position in normal operation TRD-NH -RZVW



TRD- N - -RZ W L SeriesN : ShaftNH : Hollow shaft

Pulse/revolution

Output signalS : One-phaseRZ : Two-phase with home position in normal operationRZV : Line driver output

ProtectionBlank : Dust proofed (IP50)W : Dust and splash proofed (IP65)

(Available options)

Home position reverse operation symbol If output signal is RZ, model numbers with "L" are home position reverse operation type.

TRD-N/NH Series Incremental EncodersTR

D-S/

SHTR

D-M

XTR

D-2E

TRD-

N/NH

TRD

-JRo

tary

Enc

oder

sIn

crem

enta

lTy

peAb

solu

teTy

peTR

D-G

KTR

D-N

ATR

D-K

TRD

-KL

17

TRD-N/NHseries

“H”

“L”

TRD-N -S TRD-N -RZ /TRD-N -RZ L

TRD-NH -S

TRD-N -RZV

TRD-NH -RZV TRD-NH -RZ /TRD-NH -RZ LModel number

Power source

Current consumption (no load)

Allowable ripple


Outputwave form

Output signal type

Duty ratio

Signal width at home position

Rise/Fall time

Output

Output type

Outflow “H”

Inflow “L”Output current

Output voltage

Load power voltage

3% rms max.

40 mA max.

4.75 to 30 VDC

60 mA max.

One-phase

50 ± 25% (square wave)

3% rms max.

60 mA max.

4.75 to 5.25 VDC

Two-phase + home position


100 ± 50%

2 μs max.

Line driver output

2.5V min.

0.5V max.


100 ± 50%


3 μ 3.xam s μs max.

Totem-pole

10 mA max.

30 mA max.

[(Load power voltage) – 2.5 V] min.

0.4 V max.

35 VDC max.

Totem-pole

10 mA max.

30 mA max.


0.4 V max.

35 VDC max.

3% rms max.

4.75 to 30 VDC

2 10–6kg•m2Moment of inertia

Allowable load

Cable

Weight


Initial torque Dust proof: 0.003 N•m max. (+20°C), Dust and splash proof: 0.02 N•m max. (+20°C), Hollow shaft: 0.05 N•m max. (+20°C)

5000 rpm (Dust and splash proofed: Continuous: 3000 rpm, Instantaneous: 5000 rpm)

Radial: 50 N

Thrust: 30 N

External diameter: ø6 mm5-wire oil resistant PVC cableNominal section area of core: 0.3 mm2 (Line driver output : 8 cores , 0.14mm2)


Approx. 150 g (Dust and splash proofed: Approx. 200 g)

Ambient temperature

Storage temperature

Operating humidity

Voltage withstand



Shock resistance

Protection

–10 to +70°C

–25 to +85°C


500 VAC at 50/60 Hz for 1 min Excluding shield between power

supply, signal cable, and case.50 MΩ min.


Metal slit plate at 500 P/R or less: 11 ms with 981 m/s2

Glass slit plate at 600 P/R or more: 11 ms with 490 m/s2

Applied three times along three axes

IP50: Dust proofed


Maximum response frequency is defined by the following formula:Maximum revolution speed = (Maximum response frequency/Pulse) 60The encoder does not respond to revolution faster than the maximum speed.

*

Specifications


Life ofbearing

1

10

20 40 60 80 100

102030

Life( 109 revolution)

Thrust load (N)

Radial load (N)

Environmental requirements

0.8

10

2.5

30

3.3

40

4.1

50

4.9

60

8.3

100

9.9

120

16

200

19

240

20

250

24

300

29

360

33

400

39

480

41

500

49

600

62

750

83

1000

100

1200

100

2000

100

2500

100

3600100200

5000

TRD-N -S

TRD-NH -S

TRD-N -RZ

TRD-NH -RZ

TRD-N -RZ L

TRD-NH -RZ L

0.41

5

0.33

4

0.25

3

0.08

1

TRD-N -RZV

TRD-NH -RZV

Pulse/revolution

Max. response frequency (kHz)

Applicable models


Rota

ry E

ncod

ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

18

TRD-N/NHseries


Output circuit

Electrical characteristics (typical)

60

50

40

30

4.75 12 15 24

RZ

S

30VCur

rent

con

sum

ptio

n (m

A)

Source voltage

Terminal assignmentOne-phase

Two-phase with home position

White: (Not connected)

Orange: (Not connected)

Shield: Ground

Black: OUT A

Brown: Power source

Blue: 0 V

White: OUT B

Orange: OUT Z

Shield: Ground

Black: OUT A

Brown: Power source

Blue: 0 V

: TRD-N -S: TRD-NH -S

: TRD-N -RZ /RZ L: TRD-NH -RZ /RZ L

Line driver output TRD-N -RZV TRD-NH -RZV

Purple OUT A

White OUT B

Shield : Ground

Black OUT A

Blue 0V

Brown : Power source

Gray OUT B

Orange OUT Z

Yellow OUT Z

Shielded cable is not connected tothe encoder body.

circuit

Main circuit

Power source +5 to 30 VDC

between each output 0V terminal)

0V

Power source +4.75 to 5.25 VDC

26C32 or equivalent

Several tens to hundreds Ω

26C31 or equivalent

Internal cirsuit

OUT

OUT

shield

26C31 or equivalentOUT A B ZOUT A B Z

0V

● pair cable of up to 1,200m.

Totem-pole output

Line driver output

T 100%

L

H

L

H

L

OUT A

OUT B

OUT ZH

T

a, b, c, d =1/4T± 1/8T50% ≤ T ≤ 150%

a b c d

The above waveforms apply to normal (clockwise) revolution viewed from the shaft. OUT Z phase is reversed on the RZL and RZWL models.

The above waveforms apply to normal (clockwise) revolution viewed from the shaft.

T 100

L

H


L

H

L

OUT A

OUT B

OUT ZH

a b c d

T 100

d c b a

Line driver output

Totem-pole output

● connector is disconnected.

26C32

“H”

26C31

Disconnected

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

19

TRD-N/NHseries

120°

39 (37.5)

2.5

ø55

ø64

Three M4 0.7 screw holes

ø30 +0.05 0

Bore diameter:

Panel

Screw (M4-12)(Attached to the mounting metal)

Mountingcramp

Optional flange * Dust proofed type

*

10 2.515 5 35

ø50

ø45

0.5

120°

ø40

ø30 0 –0

.021

0 –0.0

18ø8

Oil seal

17 m

ax.

Aluminium die-cast cover


Installationsurface

Oil proofed cableLength: 0.5 m

Dimensions TRD-N Series (shaft type)

120°

ø40

10 2.515 5 36.5

ø50.

4

ø45

ø30 0 –0

.021

0 –0.0

18ø8

0.5


Installationsurface

ABS cover


ø40

120°

ø30 +0.05

0


Dust proofed: S / RZ / RZL / RZV

Dust and splash proofed: SW / RZW / RZWL / RZVW

Servo mount metal fixtureø55

2.5

A — A

ø40

120°

90°

A

A

Bore diameter ø30.2

Bor

e di

amet

er

ø3.2

15

C2

18 9.5

2

4.5

Bore diameterø4.5

Flange NF-55 (Option)

Servo mount metal fixture NM-9Attachment to optional flange

(in mm)

M3-8 hexagon sockethead cap screws (three screws attachedto the encoder)

Rota

ry E

ncod

ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

20

TRD-N/NHseries

Dimensions TRD-NH Series (hollow shaft)

Dust proofed : S / RZ / RZL / RZV

1336

.5( 4

9.5)

4

ø50.4

ø60

ø13

ø8+0.018 –0

Two M3 screw holes

ABS cover


8 (d

epth

:

)ø8

+0.0

18

0

Two M3 screw holes

1335

( 48)

4

ø50ø13

ø60

ø8+0.018 0

17 m

ax.

Aluminium die-cast cover

Two M3 screw holes


8 (d

epth

)ø8

+0.0

18

0

Two M3 screw holes

Dust and splash proofed : SW / RZW / RZWL / RZVW

ø8–0

.006

–0.

014

60

0.1 0.1

0.02

0.02

0.1

R30

8 max.M3 tap screw

Mounting part

Shaft direction variation

Shaft angle direction variation

Degree of mounting surface angle over shaft.

in: mm

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

21

Long-lasting disign of ø8mm shaft in ø50mm body.Durable metal slit plate.Protection degree IP50 (dust proof) or IP65 (dust and splash proof).Wide voltage ranging from 4.75 to 30 VDC.

Features

10

30

40

50

60

100

120

200

240

300

360

400

500

600

750

1000

Type

With rear cable

Dust and splash proofed

With connector

Dust and splash proofed with connector

With side cable

Dust and splash proofed with side cable

noitulover / esluPtuptuOrebmun ledoMecnaraeppA


One-phase






One-phase

One-phase

One-phase

One-phase

One-phase







Two-phase with home position and line driver






10 pulse is only available with one-phase

Note 1

Note 1

Note 1

Note 1

Note 1

Note 1

Note 1

Note 1

Note: Consult your Koyo dealer for delivery period.

TRD-J -RZ

TRD-J -RZL

TRD-J -S

TRD-J -RZV

TRD-J -RZW

TRD-J -RZWL

TRD-J -SW

TRD-J -RZVW

TRD-J -RZC

TRD-J -RZCL

TRD-J -SC

TRD-J -RZVC

TRD-J -RZCW

TRD-J -RZCWL

TRD-J -SCW

TRD-J -RZVCW

TRD-J -RZS

TRD-J -RZSL

TRD-J -SS

TRD-J -RZVS

TRD-J -RZWS

TRD-J -RZWSL

TRD-J -SWS

TRD-J -RZVWS

*

*



TRD- J - RZ V W -L Series

Pulse/revolution

Output signalS: One-phase/RZ: Two-phase with home position in normal operation

Output typeBlank: Totem-pole/V: Line driver

ConnectionBlank: Rear cable

Dust and splash proofed/C: Connector/CW: Dust and splash proofed with connector

Side cable/WS: Dust and splash proofed with side cable

(Available options)


W:S :

TRD-J Series Incremental Encoders

Rota

ry E

ncod

ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

22

TRD-J series


0.5

10

1.5

30

2

40

2.5

50

3

60

5

100

6

120

10

200

12

240

15

300

18

360

20

400

25

500

30

600

37.5

750

50

1000

TRD-J -S

TRD-J -RZ

TRD-J -RZV

Pulse/revolution

Applicable models

Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency/Pulse) 60The encoder dows not respond to revolution faster than the maximum speed.


*


“H”

“L”

TRD-J -S

—

TRD-J -RZ

—

—

TTL 5V —LTT01LTT01

—

TRD-J -RZVModel

Powersource

Outputwaveform


Current consumption (no load)

Allowable ripple

Output signal type

Duty ratio


Rise/Fall time

Output

Output Type

Outflow “H”Outputcurrent Inflow “L”

Outputvoltage

Output standard

Load power voltage

3% rms max.

40 mA (See "Electrical Characteristics" .) max.

One-phase


4.75 to 30 VDC

3 μs (Max. Cable 50 cm) max.

Totem-pole

10 mA max.

30 mA max.


0.4 V max.

30 VDC max.

3% rms max.

60 mA (See "Electrical Characteristics" .) max.


50 to 150%


4.75 to 30 VDC


Totem-pole

10 mA max.

30 mA max.


0.4 V max.

30 VDC max.

3% rms max.

130 mA max.


50 to 150%


4.75 to 5.25 VDC


Line-driver*

2.5 V max.

0.5 V max.

* Equivalent to 26LS31 (Output signal is compatible to TTL)

2 10–6kg•m2Moment of inertia

Service life of bearing

Allowable load


Cable

Weight

Initial torque0.003 N•m (+20°C) max.(Dust and splash proofed: Min. 0.02 N•m)

Radial: 50 N

Thrust: 30 N

5000 rpm (Dust and splash proofed: 3000 rpm)

5 109 revolution (calculated value at the maximum load)

External diameter ø5 mm (W type: ø6 mm)




220 g (with 0.5 m cable) max.


Ambient temperature

Storage temperature

Operating humidity

Voltage withstand



Shock resistance

Protection

–10 to +50°C

–25 to +85°C


500 VAC for one minute(between terminals and case)

50 MΩ min.



IP50: Dust proofed


Mechanical specifications Environmental requirements

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

23

TRD-J series

Totem-pole output TRD-J -S /TRD-J -RZChannel timing chart

L

HOUT A

100%

50±2%

L

HOUT A

L

HOUT Z

L

H

L

HOUT B

100%

50~150%

50±25%

90±45°

One-phase: TRD-J -S

Two-phase with home position: TRD-J -RZNormal revolution Reverse revolution

(RZ)

(RZL)


Output circuit

0V

TRD-J

IN

+

–

TRD-J

IN

+

–

Totem-pole output:Power source 4.75 to 30 VDC

OUT A/B/Z Outflow current: 10 mA max. Inflow current: 30 mA max.

The above circuit can be applied to voltage output or open collector output as follows:

Voltage outputSensor power source

0 V

Counter


0 V

Counter

Sensor power source

Electrical characteristics

60

50

40

30

4.75 12 15 24

RZ

S

30VCur

rent

con

sum

ptio

n (m

A)

Source voltage

Current consumption characteristics

Terminal assignment

A F

BC D

E

A F

BC D

E

Red: Power source

Black: 0 V

Shield: Ground

Yellow: Not connected

White: Not connected

Green: OUT A

D: Power source

E: 0V

F: Not connected

C: Not connected

B: Not connected

A: OUT APin code

One-phase: TRD-J -S

Pin out of connector

Rear view

Rear view

Red: Power source

Black: 0 V

Shield: Ground

Yellow: OUT Z

White: OUT B

Green: OUT A

Two-phase with home position: TRD-J -RZ

D: Power source

E: 0 V

F: Not connected

C: OUT Z

B: OUT B

A: OUT APin code



Rota

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ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

24

TRD-J series


L

L

HOUT A

HA

L

HOUT B

L

HB

L

HOUT Z

L

HZ

50 to 150%

100%

50±25%

90±45°

Two-phase with home position: TRD-J -RZV


Output circuit

OUT

OUT

OUT A/B/ZOUT A/B/Z

26LS32

“H”

26LS31

Line driver OutputPower source 4.75 to 5.25 VDC

26LS31 or equivalent

0 V


Line driver (26LS31 or equivalent)

Internal circuit

Shield



Disconnected

Line driver (26LS32 or equivalent)

Terminal assignment

A G

HB F

C ED

D: OUT BE: OUT ZF: OUT Z

C: OUT BB: OUT AA: OUT A

White/Black: OUT B

Yellow: OUT Z

Shield: Ground

White: OUT B

Blue/Black: OUT A

Blue: OUT A

Pin code

Yellow/Black: OUT Z

Red: Power source

Black: 0 V


Rear viewG: Power sourceH: 0 V

Line driver TRD-J -RZVShielded cable is not connected to

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

25

TRD-J series

Model numbers of connectorsTotem-pole (S /RZ )Body: R04-R6FCable: R04-P6M (Attached)Line driver (RZV )Body: R04-R8FCable: R04-P8M (Attached)

(made by Tajima Musen)* Section area: Max. 0.3 mm2

Diameter of cable duct : ø6.2

Model numbers of connectorsTotem-pole (S /RZ )Body: R03-R6FCable: R03-PB6M (Attached)Line driver (RZV )Body: R03-R8FCable: R03-PB8M (Attached)

(made by Tajima Musen)* Section area: Max. 0.3 mm2

Diameter of cable duct : ø6.2

502015

10

ø50

ø30

ø80.

5

12

0 –0.0

21 0 –0

.010

ø80.

5

0 –0.0

10ø8

0.5

0 -0.0

10ø8

0.5

0 –0.0

10ø8

0.5

0 –0.0

10

ø80.

5

0 –0.0

10

120° 120°

ø40

602015

10

ø50

ø30

12

0 –0.0

21

120° 120°

21

602015

10

ø50

ø30

12

0 -0.0

21

120° 120°

37

602015

10

ø50

ø30

12

0 –0.0

21

120° 120°

602015

10

ø50

ø30

10 45°

0 –0.0

21

120° 120°

48.5

15

10

ø50

ø30 0 –0

.021

120°

120°

605

ø40

ø40

ø40

ø40

ø40

3-M3 0.5 screw holes (Depth: 6)






Oil proofed cable(Standard length: 0.5 m)




Metal connector

45 max.

25 m

ax.

Waterproof metal connector

With side cable

Dust and splash proofed (W)

Dust and splash proofed with connector (CW)

With side cable (S)

Dust and splash proofed with side cable (WS)

With connector (C)


Rota

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TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

26

Tough spindle withstand large load (radial 100N , thrust 50N) ,durable bearing lasts for 1.2x1010 revolustionsQuick response and wide range of operating temperature. (–10°C to +70°C)

Protection degree IP65 (dust and splash proof)Totem-pole output allows longer cable extensionServo mounting is available for easy installation.

Features

30, 100, 120, 200, 240, 250, 300,

360, 400, 500, 600, 800, 1000, 1200,

1500, 1800, 2000, 2500, 3600, 5000

30, 60, 100, 120, 200, 240, 250, 300,

360, 400, 500, 600, 800, 1000, 1200,

1500, 1800, 2000, 2500, 3000, 3600,

4000, 5000

30, 60, 100, 120, 200, 240, 250, 300,

360, 400, 500, 600, 800, 1000, 1200,

1500, 1800, 2000, 2500, 3000, 3600,

4000, 5000

10, 12, 15, 50, 60

10, 12, 15, 50, 60

30, 100, 120, 200, 240, 250, 300, 360,

400, 500, 600, 800, 1000, 1200, 1500,

1800, 2000, 2500, 3600, 5000

noitulover/esluPtuptuOrebmun ledoMecnaraeppAepyT

Dust and splash proofed with rear cable type

Dust and splash proofed with connector type


Two-phase

Two-phase



Normal/Reverse detection and home position in normal operation

Normal/Reverse detection and home position in normal operation


TRD-GK -RZ

TRD-GK -RZC2

TRD-GK -RZL

TRD-GK -RZC2L

TRD-GK -R

TRD-GK -RC2

TRD-GK -BZ

TRD-GK -BZC2



TRD- GK - -RZ C2 L Series

Pulse/revolution

Output signal Two-phase Two-phase with home position in normal operation With Normal/Reverse detection

Connection : Rear cable

:Connector

(Available options)


R :RZ:BZ:

B lankC2

TRD-GK Series Incremental EncodersTR

D-S/

SHTR

D-M

XTR

D-2E

TRD-

N/NH

TRD

-JRo

tary

Enc

oder

sIn

crem

enta

lTy

peAb

solu

teTy

peTR

D-G

KTR

D-N

ATR

D-K

TRD

-KL

27

TRD-GK series


41.7

500

50

600

66.7

800

83.3

1000

100

1200

100

1500

100

1800

100

2000

100

2500

100

3000

100

3600

100

4000

100

5000

TRD-GK -R

TRD-GK -RZ

TRD-GK -BZ

0.83

10

1

12

1.25

15

2.5

30

4.17

50

5

60

8.33

100

10

120

16.7

200

20

240

20.8

250

25

300

30

360

33.3

400

TRD-GK -R

TRD-GK -RZ

TRD-GK -BZ

Pulse/revolution


Applicable models

Pulse/revolution


Applicable models

Maximum response frequency is defined by the following formula: Maximum revolution speed = (Maximum response frequency / pulse) 60The encoder does not respond to revolution faster than the maximum speed.

*


“H”

“L”

TRD-GK -R /-RZ TRD-GK -BZModel number

Powersource

Outputwave form

Output


Allowable ripple

Current consumption (lo load)

Output signal

Duty ratio


Rise/Fall time

Output type

Outflow “H”

Inflow “L”Outputcurrent

Outputvoltage

Load power voltage

3% rms max.

At less than 16 VDC: 50 mA max./At 16 VDC or more: 70 mA max.

10 to 30 VDC

R: Two-phase/RZ: Two-phase + home position

50 ± 25%

At 400P or less: 25 to 150%/At 500P or more: 1° ± 0.5°

(1800P, 3600P, 5000P: 50 to 150%)

3 μs (Cable: 2 m or shorter) max.

Totem-pole

30 mA max.

30 mA max.

[(Power source voltage) – 4 V] min.

2 V max.

35 VDC max.

* Home position is not generated on the R model.

3% rms max.

At less than 16 VDC: 50 mA max./At 16 VDC or more: 70 mA max.

10 to 30 VDC

Normal/Reverse detection + home position

10 to 60% (2001P or more: 50 ±25%)

At 400P or less: 25 to 150%/At 500P or more: 1° ± 0.5°

(60P, 3600P: 100 to 300%, 1800P: 50 to 150%)

3 μs (Cable: 2 m or shorter) max.

Totem-pole

30 mA max.

30 mA max.

[(Power source voltage) – 4 V] min.

2 V max.

35 VDC max.

Moment of inertia

Service life of bearing

Allowable load


Cable

Weight



1 10–5kg•m2

Radial: 100 N

Thrust: 50 N

1.2 1010 revolutions (at maximum allowable load)

5000 rpm

External diameter: ø6 mm



Rear cable type: Approx. 600 g (with 2 m cable)

Connector type: Approx. 500 g

Ambient temperature –10 to +70°C

Storage temperature –25 to +85°C

Operating humidity 35 to 85% RH (with no dewing)

Voltage withstand 500 VAC for one minute

Insulation resistance 50 MΩ min.

Vibration resistanceAt 500P or less: 0.75 mm

At 600P or more: 0.35 mm

Shock resistance

Protection IP65: Dust and splash proofed

Durable for one hour along X, Y, and Z axes at 10 to 55 Hz

At 500P or less: 11 ms with 980 m/s2

At 600P or more: 11 ms with 294 m/s2

Applied three times along X, Y, and Z axes

Excluding shield between power supply, signal cable, and case.

Mechanincal specifications Environmental requirementsRo

tary

Enc

oder

sTR

D-S/

SHTR

D-M

XTR

D-2E

TRD-

N/NH

TRD

-JIn

crem

enta

lTy

peAb

solu

teTy

peTR

D-G

KTR

D-N

ATR

D-K

TRD

-KL

28

TRD-GK series


L

HOUT A

L

HOUT B

L

HOUT Z

L

H

e

1Pa b c d

CW

CCW

OUT Z

e

1Pa b

Forwardrotation

Forwardrotation

Reverse rotation

Reverse rotation

(RZ)

(RZL)

* OUT Z generates home position in both directions.* OUT Z is not included in the R model.

a, b, c, d = (1/4±1/8) Pe: 400 P or less: 25 to 150% 500 P or more: 1°± 0.5° (At 1,800, 3,600, 5000 pulses only: 50 to 150%)

* OUT Z generates home position in both directions.* OUT Z is not included in the R model.

a = (1/4±1/8) P b ≥ 1/4Pe: 400 P or less: 25 to 150% 500 P or more: 1°± 0.5° (At 60, 3,600 P: 100 to 300%, 1,800 P: 50 to 150%)

2-phase output: TRD-GK -R/-RZ

Normal/Reverse detection: TRD-GK -BZ

Output circuit

OUT

For connection examples, refer to page 21, TRD-J Series.

Power source 10 to 30 VDC

0 V

Totem-pole output:

Totem-pole output is compatible with both voltage output and open collector output.

Outflow current: 30 mA max.

Inflow current: 30 mA max.

Terminal assignment

2: OUT B

1: OUT A

15 6

23

4

3: OUT Z

2: OUT B

1: OUT A

3: OUT Z

2: CCW

1: CW

15 6

23

4

15 6

23

4


Rear view


Rear view


Rear view

Red: Power source

Black: 0 V

Shield: Ground

Yellow: Not connected

White: OUT B

Green: OUT A

4: Power source

5: 0 V

6: Shield

3: Not connected

Pin number

Red: Power source

Black: 0 V

Shield: Ground

Yellow: OUT Z

White: OUT B

Green: OUT A

4: Power source

5: 0 V

6: Shield

Pin number

Red: Power source

Black: 0 V

Shield: Ground

Yellow: OUT Z

White: CCW (Reverse revolution)

Green: CW (Normal revolution)

4: Power source

5: 0 V

6: Shield

Pin number

TRD-GK -R

TRD-GK -RZ

TRD-GK -BZ

Electrical characteristics (typical)60

50

40

10 20 30V

BZ

R/RZ

curr

ent c

onsu

mpt

ion

(mA

)

Source voltage

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

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ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

29

TRD-GK seriesø6

±0.1

90°±0.5°

ø78

15 15

1033 60

3 3

ø72

ø56

ø42

ø10

1

20

0 –0.0

15

–0.0

10–0

.029

120°

ø66

90°

ø78

15 15

1033 60

3 3

ø72

ø56

ø42

ø10

1

0 –0.0

15

–0.0

10–0

.029

20

13 max.

ø90

15

18 9

C2

2

5.1


25 max.

Oil proofed cable (Standard length: 2 m)


3-M5 0.8 screws3-M5 0.8 screw holes

Mounting cramp

Panel

Bore diameter: ø5.5

Borediameter:ø56 +0.12 0

With connector (C2)

KM-9 attachments(option)

Servo mount metal fixture

Model numbers ofconnectors (option)

Straight: BMCC-6Angular: BAFC-6

* Refer to page 38 fordetailed descriptions of theoptions.


With rear cable

Rota

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TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

Note1 : "FC" is representing a Programmable Cam (except FC-21) .

Blank

Blank

Blank

Features

List of model numbersNPN output

Small body with ø50 mm diameter and 35 mm depthDust and splash proofed with reinforced aluminum diecast casing ø8 mm strong stainless steel shaft Accurate Gray codeMetal slit with shock resistance of 980 m/s (Grass slit with 2048 type)2

30

TRD-NA Series Absolute EncodersTR

D-S/

SHTR

D-M

XTR

D-2E

TRD-

N/NH

TRD

-JRo

tary

Enc

oder

sIn

crem

enta

lTy

peAb

solu

teTy

peTR

D-G

KTR

D-N

ATR

D-K

TRD

-KL

70 mA max.(100mA max. for 2048 resolution)

12-core oil resistant PVC cable

Life of bearing

(NPN Output) (PNP Output)

31

TRD-NA series

Rota

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TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

Three M3 screw holes

Three M4× 0.7 screw holes Mountingcramp

32

TRD-NA series

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L


Environmental requirements

Voltage withstand

33

TRD-K Series Absolute Encoders

Rota

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ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L


34

TRD-K series

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

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ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

35

TRD-K series

ø78

ø72

ø56

ø42

ø10

1

ø66

90°±0.5°

30 max.

30°

9

18

36.7

(42.

3)

39.8

5020

ø23

ø15

151510

336633

ø66

90°

13 max.

120°

ø90

151510

336633

0 –0.0

15

–0.0

10–0

.029

ø78

ø72

ø56

ø42

ø10

1 0 –0

.015

–0.0

10–0

.029

15

18

9

C2

2

5.1

20

Oil proof shielded cable (standard length 2 m)



Panel

Mountingcramp Screw (3-M5 0.8 screws) 3-M5 0.8 screw holes

Bore

diameter:

ø56 +0.12 0

Bore diameter: ø5.5

With side cable (TRD-K -YS)

Model numbers of connectors (options)

Straight: BMCC-12Angular: BAFC-12

* Refer to page 38 for detaileddescriptions of the options.

Dust and splash proof side connector (TRD-K -YC2)


FC-21 connector (TRD-K -YCS)Model: Made by Honda MR-16L/MR-16M

Extension cable connector (TRD- -YPS)Model: Made by Hirose RM15TPD-12P

1

2

3

4

5

6

7

8

25

24

23

22

21

20

29

28

9

10

11

12

13

14

15

16

27

26

Vcc

N.C.

N.C.

N.C.

0V

GND

16 15 14 13 12 11

6 5 4 3 2 1

10 9 8 7

1

2

3

4

5

6

Vcc

20

21

22

23

24

7

8

9

10

11

12

25

26

27

28

29

0V

1 9 8

2 10 12

34 5

7

11 6

Pin out of connector FC-21 connector

Section view

Pin number Pin number Signal nameColorSignal nameColor

Pin number Pin number Signal nameColorSignal nameColor

Purple

Blue

Green

Yellow

Orange

Brown

Light blue

Pink

White

Gray

Red

Black

Shield

Red

Brown

Orange

Yellow

Green

Blue

Pink

Light blue

Black

Purple

Gray

White

Extension cable connector

Section view

KM-9 servo mount metal fixture (supplied)

* Connector is not equipped with the cable for TRD-K -YS


Rota

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TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

Blank

■ Features

● Side cable and connector for minimum space

● Dust and splash proofed for operation not affected by water or oil

● ø10 mm strong stainless shaft and aluminum die-cast

casing

● Accurate gray code output

● Shock resistant metal slit plate durable at 980 m/s

● Servo mounting is available for easy installation

2


Voltage withstand

36

TRD-KL Series Absolute EncodersTR

D-S/

SHTR

D-M

XTR

D-2E

TRD-

N/NH

TRD

-JRo

tary

Enc

oder

sIn

crem

enta

lTy

peAb

solu

teTy

peTR

D-G

KTR

D-N

ATR

D-K

TRD

-KL


37

TRD-KL series

Rota

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ers

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

38

TRD-KL series

External Dimensions

ø78

ø72

ø56

ø42 ø10

1

15 15

1033 66

3 3

15°

90°±

0.5°

ø66±0

.1

120°

ø90

15

189

C2

2

5.1

±0.1

–0.0

10–0

.029

0 –0.0

15


2 m long oil proofed cable Cable connector (option)

Bore

diameter:

ø56+0.12

0

3-M5 0.8 screw holes

Panel

Mountingcramp

3-M5 0.8 screws Bore diameter: ø5.5

With cable(TRD-KL -Y)

With connector (TRD-KL -YC2)


KM-9 metal attachments(option)

(in mm)

TRD-

S/SH

TRD-

MX

TRD-

2ETR

D-N/

NHTR

D-J

Rota

ry E

ncod

ers

Incr

emen

tal

Type

Abso

lute

Type

TRD

-GK

TRD

-NA

TRD

-KTR

D-K

L

GJ-6: Four M3 screw holes (Torque: 0.25 N•m)GJ-8/GJ-10: Four M4 screw holes(Torque: GJ-8: 0.4 N•m, GJ-10: 0.45 N•m)

RU-075 : Four M3 screw holesJU-100/RU-100 : Four M5 screw holes(Torque : RU-075 : 0.7N•m , JU-100/RU-100 : 3.6N•m)

Two M3 screw holes (Torque: 1.5 N•m)

40

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Characteristic specifications and options

TRD-S/SH TRD-2E TRD-N/NH TRD-J TRD-GK TRD-NA TRD-K TRD-KLCharacteristic details

Longer or shorter cable

Modified cable ends (with connectors)

Non-standard pulse

Longer shaft

Thicker or thinner shaft

Reverse rotation (The count increases in counterclockwise revolution.)

Applicable models

Characteristic Specifications

2E

2E

Options

Bracket

Couplings

Please be aware of mounting direction.

41

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Special characteristics and options

Used with absolute rotaryencoders, the programmablecam precisely position processing machines.Applicable processesinclude assembling, print-ing, pressing and packag-ing.A wide variety of modelsare available to suit yourneeds.

Model: Made by Honda MR-16L/MR-16M Model: Made by Hirose RM15TPD-12P

31

42

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Mechanism of absolute rotary encoder

43

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ers


Gray to binary conversion by PLC

Gray to binary conversion by PLC isrestricted by its program executionspeed. At 20 ms/scan, set the encoderspeed to 8 rpm or less.

Between TRD-NA and D4-450,440/D2-250,240

Gray to binary conversion by PLC is restricted by its exe-cution speed. At 20 ms/scan, set the encoder speed to 8 rpm or less.

44

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Between TRD-NA and D2-230

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ers

Connections

:TC-4 / TC-4B / TC-4S

Blue(Black)

Black(Blue)

White (White)

Yellow(Orange)Yellow/Black(Yellow)

Red(Brown)

Blue/Black (Purple)

White/Black (Gray)

On the TRD-S/SH/2E/N/NH/J/NA/K/KL Series, the shielded cable is not connected to the case.

For the TRD-S/SH/2E/N/NH/J/NA/K/KL Series, connect the shielded cable to the 0 V terminal, or ground it.

Using a capacitor or surge absorber, elirninate sparks from relays and switches.

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Precautions and noise prevention

Specialist Rotary Encodersdata.hpt.com.tw/Koyo/Catalog/EncodersCatalogEn(V5.x).pdf · Specialist...

Documents

Transcript of Specialist Rotary Encodersdata.hpt.com.tw/Koyo/Catalog/EncodersCatalogEn(V5.x).pdf · Specialist...