Contents
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7 - Rotary encoders OsiSense XCC
Selection guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/2 b General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/4
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Incremental encoders b Ø 40 mm encoders, type XCC 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .page 7/11 b Ø 58 mm encoders, type XCC 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/13 b Ø 58 mm encoders, parameterable versions, type XCC 15 . . . . . . . . . . page 7/15
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b Ø 90 mm encoders, type XCC 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/17 b Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/35
Single turn absolute encoders
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b Ø 58 mm encoders, type XCC 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/21 b Ø 90 mm encoders, type XCC 29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/23 b Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/35
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Multiturn absolute encoders b Ø 58 mm encoders, type XCC 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/27 b Ø 90 mm encoders, type XCC 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/29 b Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/35
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Multiturn absolute encoders on bus b CANopen v Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/40 v CANopen Ø 58 mm encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/42 b PROFIBUS-DP
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v Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/44 v PROFIBUS-DP Ø 58 mm encoders . . . . . . . . . . . . . . . . . . . . . . . . . . page 7/46 b Accessories for CANopen et PROFIBUS-DP encoders . . . . . . . . . . . . . page 7/48
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Opto-electronic rotary encoders
Selection guide
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OsiSense XCC
1
Encoder type
Incremental encoders
Applications
Counting indication
Diameter of housing
Ø 40 mm
Ø 58 mm
Ø 58 mm parameterable (multiresolution) (1)
Ø 90 mm
Solid Through
Ø 6 mm Ø 6 mm
Ø 6 mm and Ø 10 mm Ø 14 mm Ø 6, 8, 10 and 12 mm (with reduction collar)
Ø 10 mm Ø 14 mm Ø 6, 8, 10 and 12 mm (with reduction collar)
Ø 12 mm Ø 30 mm Ø 12, 20 and 25 mm (with reduction collar)
100 points 256 points 360 points 500 points 1000 points 1024 points 2500 points 3600 points 4096 points 5000 points 10,000 points 4096 points/8192 turns (12-bit/13-bit) 8192 points 8192 points/4096 turns (13-bit/12-bit)
100 points – 360 points 500 points 1000 points 1024 points – – – – – –
100 points – 360 points 500 points 1000 points 1024 points 2500 points – – 5000 points – –
– 256 to 4096 points 360 to 5760 points 500 to 8000 points – 1024 to 16 384 points – – – 5000 to 80,000 points – –
100 points – 360 points 500 points 1000 points 1024 points 2500 points 3600 points – 5000 points 10,000 points –
– –
– –
– –
– –
–
–
Type K (N) Type X Type Y Type KB (N) or KG (N)
5 V, RS 422, 4.5…5.5 V Push-pull, 11…30 V – – –
– 5 V, RS 422, 4.75…30 V Push-pull, 5…30 V –
– 5 V, RS 422, 4.75…30 V Push-pull, 5…30 V –
5 V, RS 422, 4.5…5.5 V Push-pull, 11…30 V – – –
Type SB (N) or SG (N)
–
–
–
–
Type C Type F
– –
– –
– –
– –
Pre-cabled, radial Connector, radial, M23 Terminal block, radial
p – –
– p
– p
– p
–
–
–
Type reference
XCC 14ppppp
XCC 15ppppp
XCC 15ppppMppp
XCC 19ppppp
Pages
7/10
7/12 to 7/15
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3
Shaft
4 Resolution
Incremental encoders
5 Absolute encoders
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Output stage/supply (2)
Incremental encoders
Absolute encoders
8 Connection
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Type R (N)
(1) Parameterable version: multiplication of the basic resolution of the disc using dip switches, the factory setting being that of the lowest value. (2) Characteristics of the output stage/supply types: - type R (N): 5 V output driver, RS 422, 4.5…5,5 V. - type K (N): push-pull output driver, 11…30 V. - type X: 5 V output driver, RS 422, 4.75…30 V. - type Y: push-pull output driver, 5…30 V. - KB (N) or KG (N) output: push-pull output driver, 11…30 V, binary code KB (N) or Gray code KG (N).
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Single turn absolute encoders
Multiturn absolute encoders
Absolute position indication within a revolution
Absolute position indication within a revolution and indication of the number of revolutions
Accessories for encoders
1
Fieldbus: PROFIBUSDP, CANopen
2
Ø 58 mm
Ø 90 mm
Ø 58 mm
Ø 90 mm
Ø 58 mm
- Shaft couplings with spring, - anti-rotation devices, - reduction collars, - pre-wired connectors, - etc.
Ø 6 mm and Ø 10 mm Ø 14 mm Ø 6, 8, 10 and 12 mm (with reduction collar)
Ø 12 mm Ø 30 mm Ø 12, 20 and 25 mm (with reduction collar)
Ø 6 mm and Ø 10 mm Ø 14 mm Ø 6, 8, 10 and 12 mm (with reduction collar)
Ø 12 mm Ø 30 mm Ø 16, 20 and 25 mm (with reduction collar)
Ø 10 mm Ø 15 mm (hollow shaft) Ø 6, 8, 10, 12 and 14 mm (with reduction collar)
– – – – – – – – – – – –
– – – – – – – – – – – –
– – – – – – – – – – – 4096 points/8192 turns
– – – – – – – – – – – –
– – – – – – – – – – – –
8192 points –
8192 points –
– 8192 points/4096 turns
– 8192 points/4096 turns
– 8192 points/4096 turns
–
–
–
–
–
– – – Push-pull, 11…30 V, binary or Gray SSI, 13-bit, 11…30 V, binary or Gray – –
– – – Push-pull, 11…30 V, binary or Gray SSI, 13-bit, 11…30 V, binary or Gray – –
– – – –
– – – –
– – – –
SSI, 25-bit, 11…30 V, binary or Gray – –
SSI, 25-bit, 11…30 V, binary or Gray – –
–
– p
– p
– p
– p
–
–
–
–
XCC 25ppppp
XCC 29ppppp
XCC 35ppppp
XCC 39ppppp
XCC 35pppppFB XCC 35pppppCB
XCC R, XCC P, XZC
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7/22
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7/40 and 7/44
7/33 to 7/35 7/42, 7/46 and 7/48
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11…30 V, CANopen 11…30 V, PROFIBUS-DP
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– p p
(2) Characteristics of the output stage/supply types (continued): - type SB (N) or SG (N): SSI output without parity, 13-bit or 25-bit, 11…30 V, binary code SB (N) or Gray code SG (N). - type KB (N) or KG (N): push-pull output driver, 11…30 V, binary code KB (N) or Gray code KG (N) with multiturn connecting cable. - type C: binary CANopen serial link. - type F: binary PROFIBUS serial link, RS 485.
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Opto-electronic rotary encoders
General
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OsiSense XCC
Applications
The increase in the power of processing systems, coupled with the requirements for high productivity, has created the need for continuous information in all areas of production regarding: b counting, positioning by counting, b absolute positioning, b speed control.
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Example The positioning of a moving part is fully controlled by the processing system via the encoder.
Programmable controller
2
Variable speed drive
b Processing units please refer to our “Premium automation platform” catalogue. b Variable speed drives please refer to our “Variable speed drives and starters” catalogue.
3 Terminal
4 Encoder
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Motor
Principle of the opto-electronic rotary encoder
The opto-electronic rotary encoder is an angular position sensor. Mechanically coupled to a driving spindle of a machine, the shaft of the encoder rotates a disc that comprises a succession of opaque and transparent sectors. Light from light emitting diodes (LEDs) passes through the transparent sectors of the disc as they appear and is detected by photosensitive diodes. The photosensitive diodes, in turn, generate an electrical signal which is amplified and converted into a digital signal before being transmitted to a processing system or an electronic variable speed drive.
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The electrical output of the encoder therefore represents, in digital form, the angular position of the input shaft.
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Types of opto-electronic rotary encoder b Incremental encoders: Counting, positioning by counting, speed. b Parameterable incremental encoders: Multiplication of the basic resolution of the disc using dip switches (the factory setting being that of the lowest value). b Single turn and multiturn absolute encoders: Absolute positioning. b Fieldbus multiturn absolute encoders: CANopen and PROFIBUS-DP.
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Opto-electronic rotary encoders
General (continued)
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OsiSense XCC
Incremental encoder
Principle Inside track
Outside track
The disc of an incremental encoder comprises 2 types of track: b one or several outside tracks (channels A and B), comprising “n” equal angular steps that are alternately opaque and transparent, with “n” being the resolution or number of periods of the encoder, b an inside track comprising a single window, which serves as the reference point and enables reinitialisation at each revolution (top 0).
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2 Schemes and settings The operation of the photosensitive elements (LEDs + photosensitive diodes) is based on the real-time differential optical reading principle: b the photosensitive elements of tracks A and B are offset so that each will simultaneously read only its respective slot (channels A and B are 90° electrically offset), b the electronics operate following the principle of real-time differential measurement.
1/4 period Channel A 1/2 period Channel B
Channel B (rising edge) arriving before A in the clockwise direction viewed from base side.
360° period
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Period: 360° electrical. Cyclic ratio: 180° electrical ± 10%. Phase displacement: 90° electrical ± 25%.
Top 0
Advantages of real-time differential optical reading Reading by offset photosensitive elements b Radial play of encoder shaft greater than 30%, which is higher than traditional optical reading encoders. b Maintains a phase displacement of channels A and B within the tolerance limits of the unit.
Absolute encoder
Triple light source emission b Maintains cyclic ratio, even in the event of: - failure of one of the 3 light sources, - diminishing efficiency of the light sources (up to 30%), - fine dust deposit on the optical components, reducing signal strength of the photosensitive elements (up to 30%).
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These advantages are the reliability factors of the XCC encoders.
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Principle Track B1 Track B2 Track B3
Track B4
The disc of an absolute encoder comprises “n” concentric tracks, equally divided into alternate opaque and transparent segments, and each track has its own transmitter and receiver.
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The inside track is half opaque and half transparent. Reading of this MSB (Most Significant Bit) track determines in which half-turn the encoder is situated. The next track is divided into 4 quarters, alternately opaque and transparent. The reading of this track, in conjunction with the previous track, determines in which quarter-turn the encoder is situated.
Binary disc Track G1
Track G2
Track G3
Track G4 Gray disc
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The following tracks enable successive determination of which eighth-turn, sixteenth-turn, etc. the encoder is situated. The outside track corresponds to the LSB (Least Significant Bit) and provides the final accuracy. It has 2n points corresponding to the resolution of the encoder. Therefore, for each angular position of the shaft, the disc provides a code. This code can either be binary or Gray. Following one complete revolution of the encoder, the same coded values are repeated. The multiturn absolute encoder, in addition to providing the digital position within the revolution, also provides the total number of revolutions.
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General (continued)
Absolute encoder (continued)
Opto-electronic rotary encoders
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Binary coding The binary code is directly usable by processing systems (programmable controllers for example) in order to execute calculations or comparisons, but has the disadvantage of having several bits which change state between 2 positions.
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0
1
2
3
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B1 B2
2
B3 B4
Gray coding
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The Gray code offers the advantage of only changing one bit between 2 consecutive numbers. 0 1
2 3
4
5
6
7
8
9 10 11 12 13 14 15
G1
4
G2 G3 G4
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Example of Gray code disc 0
2 22 24 28 216
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0
1
2
3
4
5
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10 11 12 13 14 15 16 17 18 19 20 21 22 23 24
0 0 0 0 0
1 0 0 0 0
1 1 0 0 0
0 1 0 0 0
0 1 1 0 0
1 1 1 0 0
1 0 1 0 0
0 0 1 0 0
0 0 1 1 0
1 0 1 1 0
1 1 1 1 0
0 1 1 1 0
0 1 0 1 0
1 1 0 1 0
1 0 0 1 0
0 0 0 1 0
0 0 0 1 1
1 0 0 1 1
1 1 0 1 1
0 1 0 1 1
0 1 1 1 1
1 1 1 1 1
1 0 1 1 1
0 0 1 1 1
0 0 1 0 1
Representation of the first 24 decimal values corresponding to the reading of the first 5 tracks.
Advantages of position detection by an absolute encoder An absolute encoder continuously provides a code that is an image of the actual position of the moving object being monitored.
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On power-up, or restart following a supply failure, the encoder provides data that is directly exploitable by the processing system.
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Selection of encoder type
Opto-electronic rotary encoders
0
Characteristics required to define an encoder
7 characteristics to be established
1 Function b Incremental encoder Provides counting indication.
1
b Single turn absolute encoder Provides absolute position within each revolution. b Multiturn absolute encoder Provides absolute position within each revolution and indicates total number of revolutions.
2 Diameter of housing
2
b Incremental encoders Ø 40, 58 and 90 b Single turn and multiturn absolute encoders Ø 58 and 90
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3 Diameter of shaft b Ø 6 mm to 30 mm, depending on model b Reduction collars For Ø 58 and 90 mm encoders, with Ø 14, 15 and 30 mm through shaft, reduction collars are available to reduce the diameters: - from 14 to 6, 8, 10 and 12 - from 15 to 6, 8, 10, 12 and 14 - from 30 to 12, 16, 20 and 25.
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4 Type of shaft b Solid shaft The shaft of the encoder is mechanically linked to a drive shaft using a flexible coupling, which eliminates alignment inaccuracies.
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b Through shaft/Hollow shaft The encoder is mounted directly on the drive shaft. A flexible mounting kit prevents encoder rotation and compensates for alignment inaccuracies.
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5 Connection method b Pre-cabled with 2 m long shielded cable or M23/M12 connector. b Radial type connection.
6 Resolution b Number of points per revolution. b Number of revolutions (for multiturn absolute encoders). b On Ø 58 parameterable incremental encoders, this resolution can be adjusted using dip switches (multiplication factor up to 16 times on 9 basic resolutions).
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7 Type of output 500 mm // output SSI output
Deserialisation connecting cable
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b Single turn absolute encoders (depending on model) Push-pull output driver, 11…30 V, binary code or Gray code. SSI output without parity, 13-bit clock, 11…30 V, binary code or Gray code.
Encoders XCC 35 or 39
// output
Connector kit x metres 500 mm SSI output Cable 8 conductors
b Incremental encoders 5 V output driver, RS 422, 4.75…30 V. Push-pull output driver, 5…30 V, 11...30 V.
Deserialisation connecting cable
b Multiturn absolute encoders (depending on model) SSI output without parity, 25-bit clock, 11…30 V, binary code or Gray code.
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b Parallel outputs obtainable using converter connecting cables The SSI versions can be converted to a parallel version by using the deserialisation connecting cable (see page 7/32). b Multiturn absolute encoders, communicating version, fieldbus: v CANopen: 11...30 V (see page 7/40). v PROFIBUS-DP: 11...30 V (see page 7/44).
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Encoders XCC 35 or 39
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Precautions
Opto-electronic rotary encoders Characteristics required to define an encoder
Installation precautions
Type of cables In an environment subject to considerable electrical interference, it is recommended that cables with several twisted pairs, reinforced by general shielding, be used.
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For the signals, it is recommended that standard 0.14 mm2/0.22 mm2 conductors be used. For 5 V supply encoders. Due to line voltage drops, it is recommended that the 0 V and + V supply cables have the following minimum cross-sectional areas: b 0.14 mm2 if the encoder-supply distance is less than 30 m, b 0.22 mm2 if the encoder-supply distance is greater than 30 m.
2
Cabling Separate, by as much as possible, the connecting cables to encoders and power cables. Also, avoid parallel cable runs. Maintain a distance of at least 20 cm and, in the event of cables crossing, ensure that the crossovers are at right-angles.
3
When using cables with twisted pairs (shielded or non shielded) group signal cables in common pairs. In environments subject to electrical interference, it is recommended to earth the encoder base using one of the fixing screws.
4
Connect the control inputs to a potential (absolute encoder). Connect all 0 V connections back to a star point, i.e. only one and same referential. Earth the shielding throughout 360° using tap-off braids. This is to be done at both ends of each cable. To earth the shielding use at least 4 mm2 cable. As much as possible, earth the 0 V of the supply to the encoders on the supply side. Maximum frequency of signals for SSI depending on distance: Indicative values that can vary depending on the cable characteristics.
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Distance (m)
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Frequency (kHz)
50
400
100
300
200
200
400
100
Supply It is imperative that regulated and smoothed power supplies, with a ripple factor on 24 V of 500 mV and on 5 V of 200 mV, are used that are specifically for the encoder. Schneider Electric ABL7 range power supplies are available. Please refer to our “Power supplies, splitter boxes and interfaces” catalogue. For 5…30 V encoders, the supply via a transformer with a 24 V rms rectified and smoothed secondary is prohibited, since the DC voltage obtained is higher than the supply voltage limits of the encoder. Prior to powering-up for the first time, ensure that the rated supply voltage of the encoder is suitable for the supply.
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Precautions
Opto-electronic rotary encoders
0
Characteristics required to define an encoder, installation, powering-up Connection and powering-up precautions
Connection The plugging-in or unplugging of a connector version encoder must only be done whilst the supply is disconnected. Encoder supplied by central unit: b disconnect supply to central unit, b proceed with connection or disconnection, b re-establish supply to central unit. Encoder supplied by source external to central unit: b disconnect supply to central unit, then disconnect supply to encoder, b proceed with connection or disconnection, b re-establish supply to encoder, then re-establish supply to central unit.
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Powering-up For synchronisation reasons, the powering-up or switching-off of the encoder must coincide with that of its associated electronics.
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Incremental encoders
Characteristics, schemes
OsiSense XCC Ø 40 mm encoders
Environment
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Encoder type Conformity Temperature
Operation (housing) Storage Degree of protection Conforming to IEC 60529 Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
°C °C
XCC 1406Ppppp XCC 1406Tpppp e - 20…+ 80 - 30…+ 85 IP 54 IP 52 10 gn (f = 10…500 Hz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air; 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium or Zamak Aluminium or Zamak Stainless steel or Aluminium 688AZZ1
Mechanical characteristics
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Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
mm Continuous g.cm2 N.cm daN daN
Radial Axial
Ø 6, solid shaft (g7) 9000 rpm 10 0.2 2 1
Ø 6, through shaft (H7) 5 0.25
Electrical characteristics Connection
5
6
Frequency Number of channels
kHz
Encoders with type R output stage: 5 V output driver, RS 422, 4.5…5.5 V supply Supply voltage c 5 V ± 10% Max. ripple: 200 mV Current consumption, no-load mA 100 max. Output current mA 40 max. Output levels Low level (Is = 20 mA) 0.5 V max. High level
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Radial: pre-cabled, 8 x 0.14 mm2 shielded, Pre-cabled 8 x 0.14 mm2 shielded, Ø ext = 6 mm, length = 2 m Ø ext = 6 mm, length = 2 m Crimped metal cable entry Crimped metal cable entry 100 3 channels: A, B, top 0 and complements A,B, 0
(Is = 20 mA) 2.5 V min.
Encoders with type K output stage: push-pull output driver, 11…30 V supply Supply voltage c 11 V…30 V. Max. ripple: 500 mV Current consumption, no-load mA 75 max. Protection Against short-circuits and reverse polarity Output current mA 40 max. Output levels Low level (Is = 20 mA) 1.5 V max.
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High level Schemes Type R output stage
Type K output stage
Encoder
9
(Is = 20 mA) V supply - 3 V min.
Processing Supply 5 V
AB0
AB0 RS422
Is max.
Push-Pull
100
0V
0V
10 References: page 7/11
7/10
Is max.
AB0
AB0 0V
Processing Supply 11 V/30 V
Encoder
Dimensions: page 7/18
Connections: page 7/19
0V
0
References
Incremental encoders
0
OsiSense XCC Ø 40 mm encoders
105160
Solid shaft, Ø 6 mm Resolution 100 points
360 points
Connection method Pre-cabled, radial L=2m
Output stage type (1) 5 V, RS 422
Supply voltage Reference 4.5…5.5 V
XCC 1406PR01R
Weight kg 0.355
Push-pull
11…30 V
XCC 1406PR01K
0.355
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406PR03R
0.355
Push-pull
11…30 V
XCC 1406PR03K
0.355
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406PR05R
0.355
Push-pull
11…30 V
XCC 1406PR05K
0.355
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406PR10R
0.355
Push-pull
11…30 V
XCC 1406PR10K
0.355
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406PR11R
0.355
Push-pull
11…30 V
XCC 1406PR11K
0.355
XCC 1406PRppp 500 points
1000 points
1024 points
1
2
3
Through shaft, Ø 6 mm (2) 105161
Resolution 100 points
360 points
XCC 1406TRppp
500 points
1000 points
1024 points
Connection method Pre-cabled, radial L=2m
Output stage type (1) 5 V, RS 422
Supply voltage Reference 4.5…5.5 V
XCC 1406TR01R
Weight kg 0.405
Push-pull
11…30 V
XCC 1406TR01K
0.405
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406TR03R
0.405
Push-pull
11…30 V
XCC 1406TR03K
0.405
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406TR05R
0.405
Push-pull
11…30 V
XCC 1406TR05K
0.405
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406TR10R
0.405
Push-pull
11…30 V
XCC 1406TR10K
0.405
Pre-cabled, radial L=2m
5 V, RS 422
4.5…5.5 V
XCC 1406TR11R
0.405
Push-pull
11…30 V
XCC 1406TR11K
0.405
(1) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/10. (2) Anti-rotation device included with encoder.
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Incremental encoders
Characteristics, schemes
0
OsiSense XCC Ø 58 mm encoders
Environment
1
Encoder type Conformity Temperature Degree of protection
2
3
Operation (housing) Storage Conforming to IEC 60529
°C °C
Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
XCC 1506Ppppp XCC 1510Ppppp XCC 1514Tpppp e - 30...+ 100 (except XCC TSMppX and XCC TSMppY: - 30...+ 70) - 30…+ 85 IP 65 IP 65 (IP 67 with collar IP 65 option XCC RB3) 10 gn (f = 55…2000 Hz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air, 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium Zamak Stainless steel 6000ZZ1
6803ZZ
Ø 6, solid shaft (g7) 9000 rpm 10 0.4 10 5
Ø 14, through shaft (H7) 6000 rpm 22 0.6 5 2
Mechanical characteristics
4
Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
Continuous
Radial Axial
g.cm2 N.cm daN daN
Ø 10 mm, solid shaft 9000 rpm 10 0.4 10 5
Electrical characteristics
5
6
Connection Frequency Number of channels
Connector kHz
Encoders with type X output stage: 5 V output driver, RS 422, 4.75…30 V supply Supply voltage c 4.75…30 V Max. ripple: 500 mV Current consumption, no-load mA 75 max. Protection Against short-circuits and reverse polarity Output current mA 40 max. Output levels Low level (Is = 20 mA) 0.5 V max. High level
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M23, 12-pin male connector 300 3 channels: A, B, top 0 and complements A,B, 0
(Is = 20 mA) 4.5 V min.
Encoders with type Y output stage: push-pull output driver, 5…30 V supply Supply voltage c 5…30 V Max. ripple: 500 mV Current consumption, no-load mA 75 max. Protection Against short-circuits and reverse polarity Output current mA 40 max. Output levels Low level (Is = 20 mA) 0.5 V max. (for U supply = 30 V) (1) High level (Is = 20 mA) V supply - 2.5 V min. Schemes Type X output stage
Type Y output stage
Encoder
Processing Supply 4.75 V/30 V Supply 5 V
+5V
9
Encoder
AB0
AB0 RS422
Is max.
(1)
100
Push-Pull
Is max.
AB0
AB0 0V
Processing Supply 5 V/30 V
0V
0V
(1) RS 422 compatible on 5 V supply.
10 References: pages 7/13 to 7/15
7/12
Dimensions: page 7/18
Connections: page 7/19
0V
References
Incremental encoders
0
OsiSense XCC Ø 58 mm encoders
105163
Solid shaft, Ø 6 mm
XCC 1506PSppp
Resolution Connection method (1) 100 points Connector, radial M23 male
Output stage Supply type (2) voltage 5 V, RS 422 4.75…30 V
Reference XCC 1506PS01X
Weight kg 0.495
Push-pull
5…30 V
XCC 1506PS01Y
0.495
360 points
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1506PS03X
0.495
Push-pull
5…30 V
XCC 1506PS03Y
0.495
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1506PS05X
0.495
Push-pull
5…30 V
XCC 1506PS05Y
0.495
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1506PS10X
0.495
Push-pull
5…30 V
XCC 1506PS10Y
0.495
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1506PS11X
0.495
Push-pull
5…30 V
XCC 1506PS11Y
0.495
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1506PS25X
0.495
Push-pull
5…30 V
XCC 1506PS25Y
0.495
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1506PS50X
0.495
Push-pull
5…30 V
XCC 1506PS50Y
0.495
500 points
1000 points
1024 points
2500 points
5000 points
105164
Solid shaft, Ø 10 mm
XCC 1510PSppp
Resolution Connection method (1) 100 points Connector, radial M23 male
Output stage Supply type (2) voltage 5 V, RS 422 4.75…30 V
Reference XCC 1510PS01X
Weight kg 0.465
Push-pull
5…30 V
XCC 1510PS01Y
0.465
360 points
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1510PS03X
0.465
Push-pull
5…30 V
XCC 1510PS03Y
0.465
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1510PS05X
0.465
Push-pull
5…30 V
XCC 1510PS05Y
0.465
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1510PS10X
0.465
Push-pull
5…30 V
XCC 1510PS10Y
0.465
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1510PS11X
0.465
Push-pull
5…30 V
XCC 1510PS11Y
0.465
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1510PS25X
0.465
Push-pull
5…30 V
XCC 1510PS25Y
0.465
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1510PS50X
0.465
Push-pull
5…30 V
XCC 1510PS50Y
0.465
500 points
1000 points
1024 points
2500 points
5000 points
1
2
3
4
5
6
7
8
9 (1) For female connector use XZC C23FDP120S or pre-wired connectors (L = 2, 5 or 10 m), see page 7/33. (2) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/12.
10
7/13
References (continued)
Incremental encoders
0
OsiSense XCC Ø 58 mm encoders
Through shaft, Ø 14 mm (1)
105166
1
2
Resolution Connection method (2) 100 points Connector, radial M23 male
Output stage Supply type (3) voltage 5 V, RS 422 4.75…30 V
Reference XCC 1514TS01X
Weight kg 0.435
Push-pull
5…30 V
XCC 1514TS01Y
0.435
360 points
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1514TS03X
0.435
Push-pull
5…30 V
XCC 1514TS03Y
0.435
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1514TS05X
0.435
Push-pull
5…30 V
XCC 1514TS05Y
0.435
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1514TS10X
0.435
Push-pull
5…30 V
XCC 1514TS10Y
0.435
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1514TS11X
0.435
Push-pull
5…30 V
XCC 1514TS11Y
0.435
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1514TS25X
0.435
Push-pull
5…30 V
XCC 1514TS25Y
0.435
Connector, radial M23 male
5 V, RS 422
4.75…30 V
XCC 1514TS50X
0.435
Push-pull
5…30 V
XCC 1514TS50Y
0.435
500 points XCC 1514TSppp
1000 points
3 1024 points
2500 points
4 5000 points
5
Through shaft, Ø 6, 8, 10 and 12 mm (1)
566465
Encoder type
Encoders with through shaft XCC 1514TSppp
6
7
8
9
10
7/14
mm Ø6
Reduction collar to be ordered (see page 7/35) XCC R158RDA06
–
Ø8
XCC R158RDA08
–
Ø 10
XCC R158RDA10
–
Ø 12
XCC R158RDA12
–
(1) Anti-rotation device included with encoder. (2) For female connector use XZC C23FDP120S or pre-wired connectors (L = 2, 5 or 10 m), see page 7/33. (3) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/12.
XCC R158RDA
Characteristics: page 7/12
Diameter
Dimensions: page 7/18
Connections: page 7/19
References (continued)
Incremental encoders
0
OsiSense XCC Ø 58 mm encoders Parameterable versions (1)
105184
Parameterable with solid shaft, Ø 10 mm Resolution 256…4096 points
360…5760 points
XCC 1510PSM02X
500…8000 points
1024…16,384 points
5000…80,000 points
Connection method (2) Connector, radial M23 male
Output stage Supply type (3) voltage 5 V, RS 422 4.75…30 V
Weight kg XCC 1510PSM02X 0.465
Push-pull
5…30 V
XCC 1510PSM02Y
0.465
4.75…30 V
XCC 1510PSM03X
0.465
5…30 V
XCC 1510PSM03Y
0.465
4.75…30 V
XCC 1510PSM05X
0.465
5…30 V
XCC 1510PSM05Y
0.465
4.75…30 V
XCC 1510PSM11X
0.465
5…30 V
XCC 1510PSM11Y
0.465
4.75…30 V
XCC 1510PSM50X
0.465
5…30 V
XCC 1510PSM50Y
0.465
Connector, radial 5 V, RS 422 M23 male Push-pull Connector, radial 5 V, RS 422 M23 male Push-pull Connector, radial 5 V, RS 422 M23 male Push-pull Connector, radial 5 V, RS 422 M23 male Push-pull
Reference
Parameterable with through shaft, Ø 14 mm (4) Resolution 256…4096 points
360…5760 points
500…8000 points
1024…16,384 points
5000…80,000 points
Connection method (2) Connector, radial M23 male
Output stage Supply type (3) voltage 5 V, RS 422 4.75…30 V
Weight kg XCC 1514TSM02X 0.435
Push-pull
5…30 V
XCC 1514TSM02Y
0.435
4.75…30 V
XCC 1514TSM03X
0.435
5…30 V
XCC 1514TSM03Y
0.435
4.75…30 V
XCC 1514TSM05X
0.435
5…30 V
XCC 1514TSM05Y
0.435
4.75…30 V
XCC 1514TSM11X
0.435
5…30 V
XCC 1514TSM11Y
0.435
4.75…30 V
XCC 1514TSM50X
0.435
5…30 V
XCC 1514TSM50Y
0.435
Connector, radial 5 V, RS 422 M23 male Push-pull Connector, radial 5 V, RS 422 M23 male Push-pull Connector, radial 5 V, RS 422 M23 male Push-pull Connector, radial 5 V, RS 422 M23 male Push-pull
Reference
566465
Encoders with through shaft XCC 1514TSMppp
XCC R158RDA
2
3
4
5
6
7
Parameterable with through shaft, Ø 6, 8, 10 and 12 mm (4) Encoder type
1
Diameter mm Ø6
Reduction collar to be ordered (see page 7/35) XCC R158RDA06
–
Ø8
XCC R158RDA08
–
Ø 10
XCC R158RDA10
–
Ø 12
XCC R158RDA12
–
(1) Parameter configuration: refer to table indicating position of dip switches on page 7/19. (2) For female connector use XZC C23FDP120S or pre-wired connectors (L = 2, 5 or 10 m), see page 7/33. (3) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/12. (4) Anti-rotation device included with encoder.
8
9
10
7/15
Incremental encoders
Characteristics, schemes
OsiSense XCC Ø 90 mm encoders
Environment
1
2
3
Encoder type Conformity Temperature
Operation (housing) Storage Degree of protection Conforming to IEC 60529 Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
°C °C
XCC 1912Ppppp XCC 1930Tpppp e - 20…+ 80 - 30…+ 85 IP 66 IP 65 10 gn (f = 10…1 kHz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air; 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium Zamak Stainless steel 6001ZZ 6807
Mechanical characteristics
4
Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
Continuous
Radial Axial
g.cm2 N.cm daN daN
Ø 12, solid shaft (g6) 6000 rpm 150 1 20 10
Ø 30, through shaft (H7) 3600 rpm 500 2.5 8 5
Electrical characteristics
5
Connection Frequency Number of channels
Connector
6
Encoders with type R (N) output stage: 5 V output driver, RS 422, 4.5…5.5 V supply Supply voltage c 5 V ± 10% Max. ripple: 200 mV Current consumption, no-load mA 100 max. Output current mA 40 max. Output levels Low level (Is = 20 mA) 0.5 V max.
kHz
High level
7
(Is = 20 mA) V supply - 2.5 V min.
Encoders with type K (N) output stage: push-pull output driver, 11…30 V supply Supply voltage c 11 V…30 V Max. ripple: 500 mV Current consumption, no-load mA 75 max. Protection Against short-circuits and reverse polarity Output current mA 40 max. Output levels Low level (Is = 20 mA) 1.5 V max. High level
8
M23, 12-pin male connector 100 3 channels: A, B, top 0 and complements A,B, 0
Schemes Type R (N) output stage Encoder
(Is = 20 mA) V supply - 3 V min.
Type K (N) output stage Processing Supply 5 V
Encoder
AB0
AB0 RS422
9
Is max.
Push-Pull
100
0V
0V
10 References: page 7/17
7/16
Is max.
AB0
AB0 0V
Processing Supply 11 V/30 V
Dimensions: page 7/18
Connections: page 7/19
0V
0
References
Incremental encoders
0
OsiSense XCC Ø 90 mm encoders
Solid shaft, Ø 12 mm Resolution
Connection method (1) Connector, radial M23 male
Output stage type (2) 5 V, RS 422 Push-pull
Supply voltage 4.5…5.5 V 11…30 V
Weight kg XCC 1912PS01RN 1.360 XCC 1912PS01KN 1.360
360 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS03RN XCC 1912PS03KN
1.360 1.360
500 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS05RN XCC 1912PS05KN
1.360 1.360
1000 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS10RN XCC 1912PS10KN
1.360 1.360
1024 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS11RN XCC 1912PS11KN
1.360 1.360
2500 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS25RN XCC 1912PS25KN
1.360 1.360
3600 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS36RN XCC 1912PS36KN
1.360 1.360
5000 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS50RN XCC 1912PS50KN
1.360 1.360
10,000 points Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1912PS00RN XCC 1912PS00KN
1.360 1.360
Reference
105168
100 points
XCC 1912PSpppN
Reference
105171
Through shaft, Ø 30 mm (3) Resolution
Connection method (1) Connector, radial M23 male
Output stage type (2) 5 V, RS 422 Push-pull
Supply voltage 4.5…5.5 V 11…30 V
Weight kg XCC 1930TS01RN 0.960 XCC 1930TS01KN 0.960
360 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS03RN XCC 1930TS03KN
0.960 0.960
500 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS05RN XCC 1930TS05KN
0.960 0.960
1000 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS10RN XCC 1930TS10KN
0.960 0.960
1024 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS11RN XCC 1930TS11KN
0.960 0.960
2500 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS25RN XCC 1930TS25KN
0.960 0.960
3600 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS36RN XCC 1930TS36KN
0.960 0.960
5000 points
Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS50RN XCC 1930TS50KN
0.960 0.960
10,000 points Connector, radial M23 male
5 V, RS 422 Push-pull
4.5…5.5 V 11…30 V
XCC 1930TS00RN XCC 1930TS00KN
0.960 0.960
100 points
523200
XCC 1930TSpppN
Through shaft, Ø 12, 20 and 25 mm (3) Encoder type
XCC R290RDPppN
Diameter Reduction collar to be ordered mm (see page 7/35) Encoders with through shaft Ø 12 XCC R290RDP12 – XCC 1930TSppppN Ø 20 XCC R290RDP20 – Ø 25 XCC R290RDP25 – (1) For female connector use XZC C23FDP120S or pre-wired connectors (L = 2, 5 or 10 m), see page 7/33. (2) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/16. (3) Anti-rotation device included with encoder.
7/17
1
2
3
4
5
6
7
8
9
10
Incremental encoders
Dimensions
3
OsiSense XCC Ø 40 mm, Ø 58 mm and Ø 90 mm encoders
Ø 40 mm encoders XCC 1406PRpppN
XCC 1406TRpppN
(3)
Ø20 (1)
(2)
10
(1)
8
5,5 Ø20f7
1,5
Ø40
Ø52
35
(1) 3 holes M3 x 0.45 at 120° on 28 PCD, depth: 6 mm. (2) 3 holes M3 x 0.45 at 120° on 24 PCD, depth: 6 mm. (3) Ø 6 cable, length 2 m, minimum bend radius: 30 mm.
25
(3)
4
3H8
(1) 2 M4 holes at 120° for cross-headed screws on 30 PCD, depth: 6 mm. (2) Through shaft, Ø 6 (H7). (3) 2 M2 x 3 flat cross-headed locking screws. (4) Ø 6 cable, length 2 m, minimum bend radius: 30 mm.
Ø 58 mm encoders XCC 1510PSppX, 1510PSppY / XCC 1510PSMppX, 1510PSMppY M23
Ø25 Nitrile seal
Nitrile seal
2
4 (1)
54
5
(1)
36,5
15 (2)
(3)
Ø36f7
(2)
10
19
9,5
Ø58
Ø50h7
10
Ø6g7
5,5
10,5
8
Ø31,75f9
4
(1) 3 holes M3 x 4 at 120° on 42 PCD, depth: 10 mm. (2) Collar XCC RB1 mounted.
Ø58,5
Ø25
-0,010
M23
Ø10 -0,025
XCC 1506PSppX, XCC 1506PSppY
54
3
22
40˚
Ø36f7
9 (2)
Ø3,2
Ø46
4
Ø6g7
Ø40
27
10
2
(4)
5
3
3
Ø8
1
36,5
10
(1) 3 M4 holes at 120° on 48 PCD, depth: 8 mm. (2) 3 M3 holes at 120° on 48 PCD, depth: 8 mm. (3) Blanking plug, for encoders XCC 1510PSMppX and 1510PSMppY only.
XCC 1514TSppX, 1514TSppY / XCC 1514TSMppX, 1514TSMppY M23
Ø25
6
Nitrile seal
36˚
Ø81 Ø64
18˚
Ø24
(3)
7
(1) Through shaft, Ø 14 (H7). (2) Flexible mounting kit, 1 x XCC RF5N mounted. (3) 2 HC M4 x 4 locking screws. (4) Hole for M3 x 6 self-threading screw. (5) Blanking plug, for encoders XCC 1514TSMppX and 1514TSMppY only.
Ø58,5
52
(1)
(4)
Ø48 (5)
(2)
40
Ø88
(5)
Ø3,2
45
Ø 90 mm encoders XCC 1912PSpppN
XCC 1930TSpppN Ø110 7
5
Ø5,5 ( )
Ø90
Ø80h7
9
Ø12g6
14 4
72
30˚
14
( )
25 30
(1) 9,5
(4)
(1) 78
10
Ø100
Ø40h7
10
(1) 6 holes M6 x 1 at 120° on 60 PCD, max. depth: 12 mm.
7/18
Ø90
5
71,5
5
Ø58
8
(1) Through shaft, Ø 30 (H7). (2) Anti-rotation device, 1 x XCC RF9N, mounted. (3) 4 M5 x 6 on 78 PCD. (4) 1 CHC M5 x 12 stainless steel A2 locking screw.
51 72
Incremental encoders
Connections
3
OsiSense XCC Ø 40 mm, Ø 58 mm and Ø 90 mm encoders
Pre-cabled version encoders (1) 8 x 0.14 mm2 shielded cable connections for Ø 40 encoders Wire colour Signal Supply
BN
RD
VT
BU
YE
OG
GN
BK
A
+V
0
0
B
B
A
0V
1
BN = Brown RD = Red VT = Violet BU = Blue YE = Yellow OG = Orange GN = Green BK = Black Note: In environments subject to electrical interference, it is recommended to earth the encoder base using one of the fixing screws.
2
3
Connector version encoders (1) M23, 12-pin connector connections Male connector on encoder (pin view) Pin number
1
2
3
4
5
6
7
8
9
10
11
12
A
+V
0
0
B
B
R
A
R
0V
0V
+V
9 1 2
8 12
10 11
3 4
Signal Supply
7
4
6 5
Note: In environments subject to electrical interference, it is recommended to earth the encoder base using one of the fixing screws. R = reserved, do not connect.
5
(1) Connect each unused channel to 0 V in series with a 10 kΩ resistor.
Resolutions Resolutions for parameterable Ø 58 mm encoders XCC 1510PSMppp and XCC 1514TSMppp Simple multiplication of the basic resolution of the disc using dip switches (1) (Plastic Ø 2.5 screwdriver recommended). The factory setting is for factor X1.
6 on
Interpolation factor
Basic resolution
Position of dip switches
Counting Speed x1 x1
256 256
360 360
500 500
1024 1024
5000 5000
x2
x2
512
720
1000
2048
10,000
x3
x3
768
1080
1500
3072
15,000
x4
x4
1024 1440
2000
4096
20,000
x5
–
1280 1800
2500
5120
25,000
x8
–
2048 2880
4000
8192
40,000
x 10
–
2560 3600
5000
10,240 50,000
x 12
–
3072 4320
6000
12,288 60,000
x 16
–
4096 5760
8000
16,384 80,000
1
2
3
7
4
1 2 3 4
8
9
(1) Setting the switches to other configurations will result in the encoder providing an unpredictable resolution.
10
7/19
Characteristics, schemes
Single turn absolute encoders OsiSense XCC Ø 58 mm encoders
Environment
1
Encoder type Conformity Temperature
Operation (housing) Storage Conforming to IEC 60529
Degree of protection
2
3
°C °C
Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
XCC 2506Pppppp e - 20…+ 90 - 30…+ 95 IP 65
XCC 2510Pppppp
XCC 2514Tppppp
IP 65 (IP 67 with collar option XCC RB3)
IP 65
10 gn (f = 10…2 kHz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air; 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium Zamak Stainless steel 6000ZZ1
6803ZZ
Ø 6, solid shaft (g7) 9000 rpm 10 0.4 10 5
Ø 14, through shaft (H7) 6000 rpm 22 0.6 5 2
Mechanical characteristics
4
Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
Continuous
Radial Axial
g.cm2 N.cm daN daN
Ø 10 mm, solid shaft 9000 rpm 10 0.4 10 5
Electrical characteristics
5
Connection
Connector
Frequency
6
7
Encoders with parallel output stage types KG (N), KB: M23, 16-pin male connector. Encoders with SSI output stage types SB (N), SG (N): M23, 12-pin male connector kHz
Encoders with parallel output stage types KG (N), KB: 100 kHz on LSB (Least Significant Bit) Encoders with SSI output stage types SB (N), SG (N): 100 kHz to 1 MHz clock
Encoders with type KB and KG (N) output stage: push-pull output driver, 11…30 V supply, Gray code Supply voltage c 11…30 V Max. ripple: 500 mV Current consumption, no-load mA 100 max. Protection Against short-circuits and reverse polarity Output current mA 20 max. Output levels Low level (Is = 20 mA) 0.5 V max. (for U supply = 30 V) High level (Is = 20 mA) V supply - 2.5 V min.
Schemes Type KB and KG (N) output stage
8
KB and KG (N) DIRECTION input < 1 ms
11…30 V
< 1 ms
V supply DIRECTION input 0V
Output
DIRECTION Anticlockwise of counting
9
10 References: page 7/21
7/20
Dimensions: page 7/24
Connections: page 7/25
Clockwise
Anticlockwise
0
Single turn absolute encoders
Characteristics (continued), schemes, references
0
OsiSense XCC Ø 58 mm encoders
Electrical characteristics (continued) Encoders with type SB (N) or SG (N) output stage: SSI output without parity, 13-bit clock, 11…30 V supply, binary code (SB) or Gray code (SG) Supply voltage c 11…30 V. Max. ripple: 500 mV Current consumption, no-load mA 100 Protection Against short-circuits and reverse polarity Output level Idata = 20 mA |VOD| > 2 V Schemes RS 422 data output
Isolated clock input
DIRECTION input < 1 ms
DATA +
CLK +
VOD
VID
V supply DIRECTION input 0V
1 nF
DIRECTION of counting
1 nF
DATA –
Idata = 20 mA |VOD| > 2 V
2
< 1 ms
Iclk
2,2 nF
2,2 nF
1
Clockwise
Anticlockwise
Clockwise
3
CLK -
|VID| max.: 5 V |Iclk| max.: 15 mA
References Resolution
Connection method (1)
Output stage Supply type (2) voltage
Reference
Weight kg
Push-pull, binary Push-pull, Gray SSI, 13-bit, binary SSI, 13-bit, Gray
11…30 V
XCC 2506PS81KB
0.495
11…30 V
XCC 2506PS81KGN
0.495
11…30 V
XCC 2506PS81SBN
0.490
11…30 V
XCC 2506PS81SGN
0.490
11…30 V
XCC 2510PS81KB
0.465
11…30 V
XCC 2510PS81KGN
0.465
11…30 V
XCC 2510PS81SBN
0.460
11…30 V
XCC 2510PS81SGN
0.460
11…30 V
XCC 2514TS81KB
0.435
11…30 V
XCC 2514TS81KG
0.435
11…30 V
XCC 2514TS81SB
0.430
11…30 V
XCC 2514TS81SG
0.430
105173
Solid shaft, Ø 6 mm 8192 points
XCC 2506PS81ppp
Connector, radial M23 male
4
5
Solid shaft, Ø 10 mm 8192 points
Connector, radial M23 male
Push-pull, binary Push-pull, Gray SSI, 13-bit, binary SSI, 13-bit, Gray
6
Through shaft, Ø 14 mm (3) 8192 points
Connector, radial M23 male
Push-pull, binary Push-pull, Gray SSI, 13-bit, binary SSI, 13-bit, Gray
7
Through shaft, Ø 6, 8, 10 and 12 mm (3) 566465
Encoder type Encoders with through shaft XCC 2514TS81pp
XCC R158RDA
Diameter mm Ø6
Reduction collar to be ordered (see page 7/35) XCC R158RDA06
–
Ø8
XCC R158RDA08
–
Ø 10
XCC R158RDA10
–
Ø 12
XCC R158RDA12
–
(1) For female connector use: - XZC C23FDP120S for encoders type SBN and SGN - XZC C23FDP160S for encoders type KB and KGN, or pre-wired connectors (L = 2, 5 and 10 m), see page 7/33. (2) For characteristics of the output stage type (indicated by last letter of the reference), see pages 7/20. (3) Anti-rotation device included with encoder.
7/21
8
9
10
Characteristics, schemes
Single turn absolute encoders OsiSense XCC Ø 90 mm encoders
Environment
1
2
3
Encoder type Conformity Temperature
Operation (housing) Storage Degree of protection Conforming to IEC 60529 Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
°C °C
XCC 2912Pppppp XCC 2930Tppppp e - 20…+ 85 - 40…+ 85 IP 66 IP 65 10 gn (f = 10…2 kHz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air; 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium Zamak Stainless steel 6001ZZ 6807
Mechanical characteristics
4
Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
Continuous
Radial Axial
g.cm2 N.cm daN daN
Ø 12, solid shaft (g6) 6000 rpm 150 1 20 10
Ø 30, through shaft (H7) 3600 rpm 500 2.5 8 5
Electrical characteristics
5
Connection
Connector
Frequency
6
7
Encoders with parallel output stage types KB (N), KG (N): M23, 16-pin male connector. Encoders with SSI output stage types SB (N), SG (N): M23, 12-pin male connector Encoders with parallel output stage types KB (N), KG (N): 100 kHz on LSB (Least Significant Bit) Encoders with SSI output stage types SB (N), SG (N): 100 kHz to 1 MHz clock
Encoders with type KB (N) or KG (N) output stage: push-pull output driver, 11…30 V supply, binary code KB (N) or Gray code KG (N) Supply voltage c 11…30 V. Max. ripple: 500 mV Current consumption, no-load mA 100 max. Protection Against short-circuits and reverse polarity Output current mA 20 max. Output levels Low level (Is = 20 mA) 0.5 V max. (for U supply = 30 V) High level (Is = 20 mA) V supply - 3 V min. Schemes Type KB (N) and KG (N) output stage
KB (N) and KG (N) DIRECTION input < 1 ms
11…30 V
8
Output
DIRECTION Anticlockwise of counting
9
10 References: page 7/23
7/22
< 1 ms
V supply DIRECTION input 0V
Dimensions: page 7/24
Connections: page 7/25
Clockwise
Anticlockwise
0
Single turn absolute encoders
Characteristics (continued), schemes, references
0
OsiSense XCC Ø 90 mm encoders
Electrical characteristics (continued) Encoders with type SB (N) or SG (N) output stage: SSI output without parity, 13-bit clock, 11…30 V supply, binary code SB (N) or Gray code SG (N) Supply voltage c 11…30 V Max. ripple: 500 mV Current consumption, no-load mA 100 Protection
Against short-circuits and reverse polarity
Output level
Idata = 20 mA |VOD| > 2 V
2
Schemes RS 422 data output
Isolated clock input
DIRECTION input < 1 ms
DATA +
CLK +
VOD
VID
V supply DIRECTION input
DIRECTION of counting Clockwise
1 nF
Idata = 20 mA |VOD| > 2 V
3
0V
1 nF
DATA –
< 1 ms
Iclk
2,2 nF
2,2 nF
1
Anticlockwise
Clockwise
CLK -
|VID| max.: 5 V |Iclk| max.: 15 mA
4
References Resolution
Connection method (1)
Output stage Supply type (2) voltage
Reference
Weight kg
Push-pull, binary
11…30 V
XCC 2912PS81KBN
1.365
Push-pull, Gray
11…30 V
XCC 2912PS81KGN
1.365
SSI, 13-bit, binary
11…30 V
XCC 2912PS81SBN
1.370
SSI, 13-bit, Gray
11…30 V
XCC 2912PS81SGN
1.370
Push-pull, binary
11…30 V
XCC 2930TS81KBN
0.975
Push-pull, Gray
11…30 V
XCC 2930TS81KGN
0.975
SSI, 13-bit, binary
11…30 V
XCC 2930TS81SBN
0.980
SSI, 13-bit, Gray
11…30 V
XCC 2930TS81SGN
0.980
105168
Solid shaft, Ø 12 mm 8192 points
Connector, radial M23 male
XCC 2912PSpppp
5
6
Through shaft, Ø 30 mm (3) 105171
8192 points
XCC 2930TSpppp
Connector, radial M23 male
523200
Encoders with through shaft XCC 2930TS81ppp
XCC R290RDPpp
8
Through shaft, Ø 12, 20 and 25 mm (3) Encoder type
7
Diameter mm Ø 12
Reduction collar to be ordered (see page 7/35) XCC R290RDP12
–
Ø 20
XCC R290RDP20
–
Ø 25
XCC R290RDP25
–
(1) For female connector use: - XZC C23FDP120S for encoders type SB (N) and SG (N) - XZC C23FDP160S for encoders type KB (N) and KG (N), or pre-wired connectors (L = 2, 5 and 10 m), see page 7/33. (2) For characteristics of the output stage type (indicated by last letter of the reference), see pages 7/22. (3) Anti-rotation device included with encoder.
7/23
9
10
Single turn absolute encoders
Dimensions
3
OsiSense XCC Ø 58 mm and Ø 90 mm encoders
Ø 58 mm encoders
M23
(2)
54 (1)
36,5
8
19
9,5 Ø58
Ø50h7
10
Ø6g7
10,5
5,5
2
2
60°
(1)
54
4
60°
Ø25 Nitrile seal
Nitrile seal
15 (2)
10
36,5
Ø36f7
3 (1) 3 M4 holes at 120° on 42 PCD, depth: 10 mm. (2) Collar XCC RB1 mounted.
10
(1) 3 M4 holes at 120° on 48 PCD, depth: 8 mm. (2) 3 M3 holes at 120° on 48 PCD, depth: 8 mm.
XCC 2514TS81KB, XCC 2514TS81KGN, XCC 2514TS81SB, XCC 2514TS81SG
4
M23
Ø25 Nitrile seal
36˚
Ø81 Ø64
18˚
Ø58,5
5
(3)
(4)
Ø48 (2)
40 Ø88
6
Ø24
52
(1)
Ø3,2
45
(1) Through shaft, Ø 14 (H7). (2) Flexible mounting kit, 1 x XCC RF5N mounted. (3) 2 HC M4 x 4 locking screws. (4) Hole for M3 x 6 self-threading screw.
Ø 90 mm encoders XCC 2912PS81KBN, XCC 2912PS81KGN
XCC 2930TS81SBN, XCC 2930TS81SGN
14
14 5
Ø110
5
7
71,5 Ø5,5 ( )
Ø90
Ø12g6
4
8
Ø80h7
72
30˚
(4)
Ø90
5
(1)
Ø58
7
( )
25 30
(1)
9
9,5
78
Ø40h7 (1) 6 holes M6 x 1 at 120° on 60 PCD, depth: 12 mm max.
10
7/24
10
Ø100 (1) Through shaft, Ø 30 (H7). (2) Anti-rotation device, 1 x XCC RF9N, mounted. (3) 4 M5 x 6 on 78 PCD. (4) 1 CHC M5 x 12 stainless steel A2 locking screw.
72
Ø58,5
Ø25
Ø31,75f9
M23
XCC 2510PS81KB, XCC 2510PS81KGN, XCC 2510PS81SBN, XCC 2510PS81SGN
-0,010
XCC 2506PS81KB, XCC 2506PS81KGN, XCC 2506PS81SBN, XCC 2506PS81SGN
Ø10 -0,025
1
Single turn absolute encoders
Connections
3
OsiSense XCC Ø 58 mm and Ø 90 mm encoders
Connector version encoders Encoders type KB (N) and KG (N) M23, 16-pin connector, anticlockwise connections
1
Male connector on encoder (pin view) 16b
1
11 12
2
10 13
3 4
16
2
9 8
14 15 7
5
6
Pin number Signal/Supply If a resolution less than 13 bits (8192 points) is required, only the corresponding number of bits need to be connected: Example: - D5 to D12 for 8 bits (256 points) - D3 to D12 for 10 bits (1024 points) - D2 to D12 for 11 bits (2048 points)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
0V
+V
d0
d1
d2
d3
d4
d5
d6
d7
d8
d9
d10 d11 d12 Direction (1)
4
: Clockwise direction, 16 to + V. : Anticlockwise direction, 16 to 0 V.
(1)
3
Encoders type SB (N) and SG (N) M23, 12-pin connector, anticlockwise connections Male connector on encoder (pin view)
5
12b
9 1 2
8 12
10 11
3 4
7
6
6 5
Pin number Signal/Supply
1
2
3
0V
Data + Clk +
4
5
6
7
8
9
10
11
R
Direction R (1)
R
+V
R
Data – Clk –
12 R
7
R = Reserved (do not connect). (1) : Clockwise direction, 5 to 0 V. : Anticlockwise direction, 5 to + V.
8
9
10
7/25
Multiturn absolute encoders
Characteristics, schemes
OsiSense XCC Ø 58 mm encoders
Environment
1
Encoder type Conformity Temperature
Multiturn absolute Operation (housing) Storage Conforming to IEC 60529
Degree of protection
2
3
°C °C
Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
XCC 3506Pppppp e - 20…+ 85 - 20…+ 85 IP 65
XCC 3510Pppppp
XCC 3514Tppppp
IP 65 (IP 67 with collar option XCC RB3)
IP 65
10 gn (f = 10…2 kHz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air; 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium Steel Stainless steel 6900ZZ1
6803ZZ
Mechanical characteristics
4
Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
Continuous g.cm2 N.cm daN daN
Radial Axial
Ø 6, solid shaft (g7) 6000 rpm 10 0.4 10 5
Ø 10 mm, solid shaft
Ø 14, through shaft (H7) 22 0.6 5 2
Electrical characteristics
5
6
Connection Connector Frequency Supply voltage Current consumption, no-load Protection Output level
mA
Schemes RS 422 data output
Encoders with SSI output stage types SB (N), SG (N): M23, 12-pin male connector Encoders with SSI output stage types SB (N), SG (N): 100 to 500 kHz clock c 11…30 V. Max. ripple: 500 mV 100 max. Against short-circuits and reverse polarity Idata = 20 mA |VOD| > 2 V
Isolated clock input DATA +
CLK +
Iclk
2,2 nF 1 nF
VOD
7
VID 1 nF
2,2 nF
DATA – CLK -
8
Idata = 20 mA |VOD| > 2 V
|VID| max.: 5 V |Iclk| max.: 15 mA
DIRECTION input
Input stage - Reset to zero < 1 ms
> 100 ms (shaft stopped)
< 1 ms
V supply DIRECTION input 0V
9
DIRECTION of counting
Position = 0 (Reset to zero) Clockwise
Anticlockwise
Clockwise
Position
10 References: page 7/27
7/26
< 2 ms
V supply Reset input 0V
Dimensions: page 7/30
Connections: pages 7/31 and 7/32
0
References
Multiturn absolute encoders
0
OsiSense XCC Ø 58 mm encoders
Ø 58 mm multiturn absolute encoders with SSI output convertible to parallel output
1
The SSI versions can be converted to a parallel version using the deserialisation connecting cable XCC RM23SUB37pp, see pages 7/32 and 7/33.
Solid shaft, Ø 6 mm Resolution
105174
4096 points 8192 turns
Connection method (1) Connector, radial M23 male
8192 points 4096 turns
XCC 3506PS84SBN
Connector, radial M23 male
Output stage Supply voltage Reference Weight type (2) kg SSI, 25-bit, 11…30 V XCC 3506PS48SGN 0.725 Gray SSI, 25-bit, binary
11…30 V
XCC 3506PS48SBN
0.725
SSI, 25-bit, binary
11…30 V
XCC 3506PS84SBN
0.725
SSI, 25-bit, Gray
11…30 V
XCC 3506PS84SGN
0.725
2
3
Solid shaft, Ø 10 mm Resolution 4096 points 8192 turns
8192 points 4096 turns
Connection method (1) Connector, radial M23 male
Connector, radial M23 male
Output stage Supply voltage Reference Weight type (2) kg SSI, 25-bit, 11…30 V XCC 3510PS48SGN 0.685 Gray SSI, 25-bit, binary
11…30 V
XCC 3510PS48SBN
0.685
SSI, 25-bit, binary
11…30 V
XCC 3510PS84SBN
0.685
SSI, 25-bit, Gray
11…30 V
XCC 3510PS84SGN
0.685
5
Through shaft, Ø 14 mm (3) Resolution 8192 points 4096 turns
Connection method (1) Connector, radial M23 male
4
Output stage Supply voltage Reference type (2) SSI, 25-bit, 11…30 V XCC 3514TS84SB binary SSI, 25-bit, Gray
11…30 V
XCC 3514TS84SG
Weight kg 0.655 0.655
6
Through shaft, Ø 6, 8, 10 and 12 mm (3)
566465
Encoder type
Encoders with through shaft XCC 3514TS84ppp
XCC R158RDA
Diameter mm
Reduction collar to be ordered (see page 7/35)
Ø6
XCC R158RDA06
–
Ø8
XCC R158RDA08
–
Ø 10
XCC R158RDA10
–
Ø 12
XCC R158RDA12
–
(1) For female connector use XZC C23FDP120S or pre-wired connectors (L = 2, 5 or 10 m), see page 7/33. (2) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/26. (3) Anti-rotation device included with encoder.
7
8
9
10
7/27
Multiturn absolute encoders
Characteristics, schemes
OsiSense XCC Ø 90 mm encoders
Environment
1
2
3
Encoder type Conformity Temperature
Operation (housing) Storage Degree of protection Conforming to IEC 60529 Vibration resistance Conforming to IEC 60068-2-6 Shock resistance Conforming to IEC 60068-2-27 Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand Materials Base Housing Shaft Ball bearings
°C °C
XCC 3912Pppppp XCC 3930Tppppp e - 20…+ 85 - 10…+ 75 - 30…+ 85 - 20…+ 85 IP 66 IP 65 10 gn (f = 10…2 kHz) 30 gn, duration 11 ms Conforming to IEC 61000-4-2: level 3, 8 kV air; 4 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs) Conforming to IEC 61000-4-5: level 2, 1 kV Aluminium Zamak Stainless steel 6001ZZ 6807ZZ
Mechanical characteristics
4
Shaft type Maximum rotational speed Shaft moment of inertia Torque Maximum load
Continuous g.cm2 N.cm daN daN
Radial Axial
Ø 12, solid shaft (g6) 6000 rpm 150 1 20 10
Ø 30, through shaft (H7) 3600 rpm 56 0.8 8 5
Electrical characteristics Connection Frequency
5
6
Connector
Encoders with SSI output stage types SB (N), SG (N): M23, 12-pin male connector Encoders with SSI output stage types SB (N), SG (N): 100 to 500 kHz clock
Encoders with type SBN or SGN (Gray) output stage: SSI output without parity, 25-bit clock, 11…30 V supply, binary code (SB) or Gray code (SG) Supply voltage c 11…30 V Max. ripple: 500 mV Current consumption, no-load mA 100 max. Protection Against short-circuits and reverse polarity Output level Idata = 20 mA |VOD| > 2 V Schemes RS 422 data output Isolated clock input DATA +
Iclk
CLK +
2,2 nF 1 nF
VOD
VID 1 nF
7
2,2 nF
DATA – CLK -
Idata = 20 mA |VOD| > 2 V
|VID| max.: 5 V |Iclk| max.: 15 mA
DIRECTION input
Input stage - Reset to zero XCC 3912Pppppp
8
> 100 ms (shaft stopped) < 1 ms
< 1 ms
V supply DIRECTION input 0V
9
DIRECTION of counting
Position = 0 (Reset to zero)
Position Clockwise
< 2 ms
V supply Reset input 0V
Anticlockwise
Clockwise
XCC 3930Tppppp > 1 s (shaft stopped) 1s
V supply Reset input 0V
10
Position
References: page 7/29
7/28
Dimensions: page 7/30
Connections: pages 7/31 and 7/32
Position = 0 (Reset to zero)
0
References
Multiturn absolute encoders
0
OsiSense XCC Ø 90 mm encoders
Ø 90 mm multiturn absolute encoders with SSI output convertible to parallel output
1
The SSI versions can be converted to a parallel version using the deserialisation connecting cable XCC RM23SUB37pp, see pages 7/32 and 7/33.
Solid shaft, Ø 12 mm 105178
Resolution 8192 points 4096 turns
Connection method (1) Connector, radial M23 male
Output stage Supply type (2) voltage SSI, 25-bit, 11…30 V binary
Weight kg XCC 3912PS84SBN 1.840
SSI, 25-bit, Gray
XCC 3912PS84SGN
11…30 V
Reference
2
1.840
XCC 3912PSpppp
3 Through shaft, Ø 30 mm (3)
105179
Resolution 8192 points 4096 turns
Connection method (1) Connector, radial M23 male
Output stage Supply type (2) voltage SSI, 25-bit, 11…30 V binary
Weight kg XCC 3930TS84SBN 1.060
SSI, 25-bit, Gray
XCC 3930TS84SGN
11…30 V
Reference
4
1.060
5 XCC 3930TSpppp
Through shaft, Ø 16, 20 and 25 mm (3)
523200
Encoder type
Diameter mm
Reduction collar to be ordered (see page 7/35) XCC R390RDP16
–
Ø 20
XCC R390RDP20
–
Ø 25
XCC R390RDP25
–
Encoders with through shaft Ø 16 XCC 3930TS84ppp
XCC R390RDPpp
6
7
(1) For female connector use XZC C23FDP120S or pre-wired connectors (L = 2, 5 or 10 m), see page 7/33. (2) For characteristics of the output stage type (indicated by last letter of the reference), see page 7/28. (3) Anti-rotation device included with encoder.
8
9
10
7/29
Multiturn absolute encoders
Dimensions
3
OsiSense XCC Ø 58 mm and Ø 90 mm encoders
Ø 58 mm encoders XCC 3506PS84SBN, XCC 3506PS84SGN
XCC 3510PS84SBN, XCC 3510PS84SGN U37
U37
M23
22,5
M23
22,5
Nitrile seal
3
(1)
41,5
15 (2)
10
Ø36f7
(1) 3 M4 holes at 120° on 42 PCD, depth: 10 mm. (2) Collar XCC RB1 mounted.
(1)
41,5
10
(1) 3 M4 holes at 120° on 48 PCD, depth: 8 mm. (2) 3 M3 holes at 120° on 48 PCD, depth: 8 mm.
XCC 3514TS84SB, XCC 3514TS84SG
4
37 22,5
M23
2
Nitrile seal
(2)
(3)
Ø24
(4)
Ø48
6
Ø81 Ø64
Ø58,5
72
18˚ 48,5
5
36˚
(1)
Ø3,2 42,5
Ø88
7,5
(1) Through shaft, Ø 14 (H7). (2) Flexible mounting kit, 1 x XCC RF5N mounted. (3) 2 HC M4 x 4 locking screws. (4) Hole for M3 x 6 self-threading screw.
Ø 90 mm encoders XCC 3912PS84SpN
XCC 3930TS84SpN M23
14
M23
13 Nitrile seal
Ø110
8
6 5 5
4
5
9
71
(3)
30
(1)
(1)
84
Ø100
10,7
Ø40h7
10
(1) 6 holes M6 x 1 at 120° on 60 PCD, depth: 12 mm max.
7/30
Ø90
(2)
25
9,5
(4)
Ø5,5
Ø90
Ø12g6
Ø80h7
4
64
30˚
Ø47
7
48 80
(1) Through shaft, Ø 30 (H7). (2) Anti-rotation device, 1 x XCC RF9N, mounted. (3) 4 M5 x 6 on 78 PCD. (4) 3 HC M5 x 6 stainless steel A2 locking screws.
Ø58,5
Ø10
72
19
Ø58
Ø50h7
5,5
10,5
10
2
60° 9,5 48,5
48,5
(2)
4
72
60°
Ø6g7
2
2
2
Nitrile seal
Ø31,75f9
1
Connections
Multiturn absolute encoders
3
OsiSense XCC Ø 58 mm and Ø 90 mm encoders
Connector version encoders Encoder with SSI output (types SBN and SGN) M23, 12-pin connector, anticlockwise connections
1
Male connector on encoder (pin view) 12b
9 1 2
8 12
10 11
3 4
7
2
6 5
Twisted cable pairs + general shielding must be used. Pin number
1
2
Signal/Supply
0V
Data + Clk +
3
4
5
6
7
R
Direction Reset R (1)
8
9
10
11
+V
R
Data – Clk –
12 R
3
R = Reserved (do not connect). (1) : Clockwise direction, : Anticlockwise direction.
Selection of code progression direction The DIRECTION input enables the code progression to match the rotational direction of the encoder shaft (clockwise or anticlockwise).
4
Clockwise direction: connect pin 5 to 0 V. Anticlockwise direction: connect pin 5 to + V.
Reset to zero The RESET input enables the encoder to be set to the zero position. It is actuated by applying an 11…30 V DC supply to pin 6, whilst the shaft is stopped, for the following times: b over 100 ms for XCC 3506, XCC 3510 and XCC 3912, b over 1 s for XCC 3930T.
5
Following a reset to zero, the pin 6 connection must be re-established to 0 V. Note: In environments subject to electrical interference, it is recommended to earth the encoder base using one of the fixing screws.
6
7
8
9
10
7/31
Multiturn absolute encoders
Presentation, characteristics, schemes
0
OsiSense XCC Ø 58 mm and Ø 90 mm encoders Connection accessories
Connector version multiturn absolute encoders The deserialisation connecting cable XCC RM23SUB37pp (See page 7/33) enables conversion, by simple connection, of encoders XCC 35pp and XCC 39pp with SSI output to parallel output.
Deserialisation connecting cable Parallel output
1
Characteristics
Franc
e 0514
SSI
NG B37 Y GRA M23SU NPN Y => XCC-R GRA 53
11 12 10 Clk ) R Data ) (… (… 5 8
0-0
9 +V
825
8
Supply Encoder input/output Parallel outputs Operating temperature
R
SSI output
2
36 x 0.14 mm2 shielded cable and SUB-D 37-pin end connector connections
5
6
7
R = Reserved, do not connect (1) : clockwise direction, : anticlockwise direction. Note: In environments subject to electrical interference, it is recommended to earth the encoder base using one of the fixing screws.
Resolution per revolution
b Selection of code progression direction The DIRECTION input enables the code progression to match the rotational direction of the encoder shaft (clockwise or anticlockwise). Clockwise direction: connect pin 30 to an 11…30 V DC supply. Anticlockwise direction: connect pin 30 to 0 V. b Reset to zero The RESET input enables the encoder to be set to the zero position. It is actuated by applying an 11…30 V DC supply to pin 27 for more than 1 second. b Encoder selection The SELECT input enables encoder selection when several units are connected in parallel on the same data bus. Encoder selected: apply 0 V potential to pin 28. Encoder not selected: apply 11…30 V DC to pin 28. b Data locking The LATCH input, particularly useful for high speed applications, enables the freezing of the encoder data output whilst reading the code. Function not actuated: apply 0 V potential to pin 29. Function actuated: apply 11…30 V DC to pin 29.
Encoders 8192 points 4096 turns
Number of revolutions
4
Male connector (pin view)
Encoders 4096 points 8192 turns
Signal 20 (LSB) 21 22 23 24 25 26 27 28 29 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 (MSB) R Reset to zero Select Latch Direction (1) R +V 0V
Resolution per revolution
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
Pin number 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 31, 32, 33, 34, 35 36 37
Number of revolutions
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
3
c 11 to 30 V Levels RS 422 Push-pull protection against short-circuits 0 to 50 °C
Schemes
8
LATCH input
PUSH-PULL
SELECT input
V supply LATCH input 0V Data d0 to d24 valid
Supply: 11 to 30 V c Max. ripple: 500 mV Protection against reverse polarity Max. no-load consumption: 50 mA (30 mA typical on 24 V)
V supply SELECT input 0V Data d0 to d24 valid
Level “0” Level “1” I Latch
< 1 ms Data frozen
< 1 ms Data valid
11 to 30 V
min. max. 0V 0.3 x V supply 0.7 x V supply V supply < 5 mA
Output
DIRECTION input
9
10
Anticlockwise
Clockwise
Max. current: 20 mA Level “0” max.: 1.5 V Level “1” min.: V supply - 2.5 V Protection against short-circuits NPN/PNP compatible
min. max. Level “0” 0 V 0.3 x V supply Increasing Clockwise Level “1” 0.7 x V supply V supply Increasing Anticlockwise I DIR < 5 mA
Note: Do not neglect the LATCH and SELECT inputs. Connecting them to 0 V makes the outputs active.
7/32
Data impeded
Data valid
min. max. 0V 0.3 x V supply 0.7 x V supply V supply < 5 mA
> 100 ms (shaft stopped)
< 1 ms
V supply DIRECTION input 0V
General: page 7/7
< 1 ms
Input stage - Reset to zero < 1 ms
DIRECTION of counting Clockwise
Level “0” Level “1” I Select
< 1 ms
< 2 ms
V supply Reset input 0V Position = 0 (Reset to zero)
Position
Level “0” Level “1” I Reset
min. max. 0V 0.3 x V supply 0.7 x V supply V supply < 5 mA
Rotary encoders
References
0
OsiSense XCC Connection accessories
Cables Description 566466
Shielded cables with twisted pairs Length: 100 m UL/CSA XZC C23FMDP120S
For encoders
Number of wires/c.s.a. Incremental 10 wires/0.14 mm2 Absolute, single turn // 16 wires/0.14 mm2 Absolute, single turn 1 pair of 0.50 mm2 and multiturn SSI, and wires and 3 pairs of 0.14 mm2 wires incremental
Ø mm 6 6.8 8.6
Reference
Weight kg 5.000 5.600 11.750
XCC RX10 XCC RX16 XCC RXS8
Connectors For use Number with of pins M23 female Encoders 12 connectors Incremental, absolute SSI Absolute encoders, 16 single turn parallel Connector kit SSI jumper cable or – 1 female + 1 male incremental encoders SUB-D 37-pin Absolute encoders, 37 female connector multiturn parallel
566467
Description
105193
XZC CHFDM370S
Type
Reference
Straight
XZC C23FDP120S
Weight kg 0.040
Straight
XZC C23FDP160S
0.040
–
XZC C23FMDP120S
0.090
Straight
XZC CHFDM370S
0.115
1
2
3
Deserialisation jumper cables (1) Description
Type
Reference
M23 F - SUB-D37 M SSI Gray//Gray PNP (PG) jumper cables, SSI Gray//Gray NPN (NG) straight M23, cable SSI Binary//Binary PNP (PB) length 0.5 m SSI Binary//Binary NPN (NB)
XCC RM23SUB37PG
Weight kg 0.225 0.225 0.225 0.225
XCC RM23SUB37PG XCC RM23SUB37NG XCC RM23SUB37PB XCC RM23SUB37NB
4
Pre-wired connectors
105194
Description M23 F straight
Number of wires 8 wires Absolute SSI 10 wires Incremental 16 wires Absolute single turn //
XCC PM23161L2
Length
Reference
2m 5m 10 m 2m 5m 10 m 2m 5m 10 m
XCC PM23122L2 XCC PM23122L5 XCC PM23122L10 XCC PM23121L2 XCC PM23121L5 XCC PM23121L10 XCC PM23161L2 XCC PM23161L5 XCC PM23161L10
Weight kg 0.190 0.470 0.900 0.160 0.330 0.620 0.175 0.415 0.790
5
6
(1) See General, page 7/7 and Connections, page 7/32.
7
Pre-wired connector connections XCC PM23122Lp Pin 1 2 3 4 5 6 7 8 9 10 11 12
Function 0V Data (+) Clk (+) R Reset R +V R Data (-) Clk (-) R
XCC PM23121Lp Colour BK BN GN – VT BU – RD – OG YE –
Pin 1 2 3 4 5 6 7 8 9 10 11 12
Function A/ V Supply Top 0 Top 0/ B B/ R A R Gnd Gnd V Supply
XCC PM23161Lp Colour BN RD VT BU YE OG – GN – BK WH GY
Pin 1 2 3 4 5 6 7 8 9 10 11 12 13
Function Gnd V Supply d0 d1 d2 d3 d4 d5 d6 d7 d8 d9 d10
Colour WH BN GN YE GY OG BU RD BK VT WH/BN WH/GN WH/YE
14
d11
WH/BK
15
d12
WH/OG
16 Direction of rotation for pin 5
R: reserved, do not connect
8
9
WH/RD
Direction of rotation for pin 16
10
7/33
Characteristics, references
Rotary encoders
0
OsiSense XCC Mounting and fixing accessories
Shaft couplings with spring (1) Maximum torque
1
N.cm
Maximum angular misalignment Maximum radial misalignment Materials
2
5° mm
Collars Spring
Compression/Expansion
300
± 1.5 Zamak Nickel plated steel
mm
± 1 max.
Homokinetic (flexible) shaft couplings with bellows Maximum torque
N.cm
Maximum angular misalignment
3
4°
Maximum lateral misalignment
mm
± 0.3
Maximum axial misalignment
mm
± 0.5
Materials
4
80
Bellows Fixing collar Screws
Stainless steel Aluminium Stainless steel
Elastic monobloc shaft couplings Maximum torque
N.cm
Maximum angular misalignment
5
20 ± 2.5°
Maximum radial misalignment
mm
± 0.3
Compression/Expansion
mm
± 2 max.
Materials
Glass fibre reinforced polyamide
(1) Not recommended for resolutions higher than 500 points.
References
6
Shaft couplings (for encoders with solid shaft) 105191
Type With spring (1)
Bore diameter (encoder side) 6 mm
XCC RARppp
7
8
105192
10 mm
12 mm XCC RASpppp
Homokinetic (flexible) with bellows 806309
9
6 mm
10 mm XCC RAE0606 12 mm
10
Elastic, monobloc
6 mm
Bore diameter (machine side) 6 mm 8 mm 10 mm 12 mm 14 mm 16 mm 8 mm 10 mm 12 mm 14 mm 16 mm 8 mm 12 mm 14 mm 16 mm
XCC RAR0606 XCC RAR0608 XCC RAR0610 XCC RAR0612 XCC RAR0614 XCC RAR0616 XCC RAR1008 XCC RAR1010 XCC RAR1012 XCC RAR1014 XCC RAR1016 XCC RAR1208 XCC RAR1212 XCC RAR1214 XCC RAR1216
Weight kg 0.125 0.125 0.125 0.120 0.120 0.120 0.120 0.120 0.110 0.110 0.105 0.110 0.110 0.105 0.100
6 mm 8 mm 10 mm 12 mm 8 mm 10 mm 12 mm 8 mm 12 mm
XCC RAS0606 XCC RAS0608 XCC RAS0610 XCC RAS0612 XCC RAS1008 XCC RAS1010 XCC RAS1012 XCC RAS1208 XCC RAS1212
0.020 0.020 0.020 0.015 0.015 0.015 0.015 0.010 0.010
6 mm
XCC RAE0606
0.010
(1) Not recommended for resolutions higher than 500 points. References: pages 7/34 and 7/35
7/34
Dimensions: pages 7/36 to 7/39
Reference
References (continued)
Rotary encoders
0
OsiSense XCC Mounting and fixing accessories
Anti-rotation devices (for encoders with through shaft) 806311
Description Flexible mounting kit
566461
XCC RFp
Features
For encoders
Reference
Set of 2 flexible fixings + screws
Ø 40 XCC 1406T
XCC RF4
1 flexible fixing + screws
Ø 58 XCC 15ppT, XCC 25ppT, XCC 3514T Ø 90 XCC 19ppT, XCC 29ppT, XCC 39ppT
XCC RF5N
0.020
XCC RF9
0.030
Set of 2 flexible fixings + screws
Weight kg 0.010
1
2
Mounting and fixing accessories (for encoders with solid shaft) Description DF600268
Set of 3 eccentric clamps + 3 fixing screws (1) + 3 washers
566462
XCC RE9S
Plain brackets for Ø 58 (2) XCC RGp Plain brackets for Ø 90 (2) Brackets with play compensator (2)
Collar for synchro mounting, for Ø 58 (2) Substitution interface collar for Ø 90 (2) IP 67 sealed collar for Ø 58 (2)
566464
566463
XCC REpR
For encoders
Reference
XCC 15ppP, XCC 25ppP, XCC 35ppP
XCC RG5
Weight kg 0.010
XCC 1912P, XCC 2912P, XCC 3912P
XCC RG9
0.030
XCC 1506, XCC 2506
XCC RE5S
1.300
XCC 1510P, XCC 2510P, XCC 3510P
XCC RE5SN
0.130
XCC 1912P, XCC 2912P, XCC 3912P
XCC RE9SN
0.290
XCC 1510P, XCC 2510P, XCC 3510PSppSpp XCC RE5RN
0.345
XCC 1912P, XCC 2912P, XCC 3912P
XCC RE9RN
0.890
XCC 1510P, XCC 2510P, XCC 3510P
XCC RB1
0.040
XCC 1912P, XCC 2912P, XCC 3912P
XCC RB2
0.175
XCC 1510P, XCC 2510P, XCC 3510PSppSpN
XCC RB3
0.030
3
4
5
6
XCC RB1 XCC RB2
Reduction collars for encoders with through shaft Description
105188
Reduction collars
105190
XCC R158RDA08
For use with Incremental encoders Ø 58 Absolute single turn encoders Ø 58 Absolute multiturn encoders Ø 58
Incremental encoders Ø 90 Absolute single turn encoders Ø 90
Absolute multiturn encoders Ø 90
Reduction Reference 14 to 6
Weight kg XCC R158RDA06 0.015
14 to 8
XCC R158RDA08
0.010
14 to 10
XCC R158RDA10
0.010
14 to 12
XCC R158RDA12
0.010
30 to 12
XCC R290RDP12
0.060
30 to 20
XCC R290RDP20
0.030
30 to 25
XCC R290RDP25
0.020
30 to 16
XCC R390RDP16
0.040
30 to 20
XCC R390RDP20
0.020
30 to 25
XCC R390RDP25
0.020
7
8
9
XCC Rp90RDP20
(1) 3 M3 x 12 screws for XCC RG5, 3 M4 x 25 screws for XCC RG9. (2) Screws included with brackets and collars.
10
7/35
Rotary encoders
Dimensions
0
OsiSense XCC Accessories
Shaft couplings
2 Øs Ø26
3
Øs Ø21
Ø6H7
Øs 6 8 10 12 8 10 12 8 12
20
Øe 6 6 6 6 10 10 10 12 12
6
XCC RAS0606 RAS0608 RAS0610 RAS0612 RAS1008 RAS1010 RAS1012 RAS1208 RAS1212
6
Øe
Øs 6 8 10 12 14 16 8 10 12 14 16 8 12 14 16
9
Øe 6 6 6 6 6 6 10 10 10 10 10 12 12 12 12
35
XCC RAR0606 RAR0608 RAR0610 RAR0612 RAR0614 RAR0616 RAR1008 RAR1010 RAR1012 RAR1014 RAR1016 RAR1208 RAR1212 RAR1214 RAR1216
9
Øe
XCC RAE0606 2,6
XCC RASpppp
2,6
XCC RARpppp
50
1
Ø6H7 Ø15
Anti-rotation devices (flexible mounting kit)
4
XCC RF4
XCC RF5N
Mounting on Ø 40 mm encoder XCC 1406T
(1)
Ø3,2 Ø46
Mounting on Ø 58 mm encoders XCC 1514T, XCC 2514T and XCC 3514T
Ø88
(1)
7,5
22
40˚
5
Ø36
57
Ø64 Ø81
Ø20 Ø52
18˚ Ø3,2
7,5
6
66˚ (1) 2 holes Ø 4 at 180° on 30 PCD. TC M4 x 5 screw fixings.
(1) 3 holes Ø 4.1 at 120° on 48 PCD. TC M3 x 6 screw fixings.
XCC RF9 Mounting on Ø 90 mm encoders XCC 1930T, XCC 2930T and XCC 3930T
30˚
7
Ø5,5
Ø100
Ø56
(1)
Ø110
8
9 44 65
10
(1) 4 holes Ø 5.2 at 90° on 78 PCD. TH M5 x 6 screw fixings.
7/36
21
Rotary encoders
Dimensions (continued)
0
OsiSense XCC Accessories
Collar kits XCC RB1
XCC RB2
Collar for synchro mounting, for Ø 58 encoders: XCC 15ppP, XCC 25ppP and XXC 35ppP
1
Interface collar for Ø 90 encoders: XCC 1912P, XCC 2912P, XCC 3912P
(2)
10
(1)
2
Ø84,5
Ø56 H9
4
Ø89,5
(2)
Ø58
Ø53
Ø50 h9
60˚
Ø36 H8
(1)
Ø32
3
3 10 7
Ø12,5 20
4 (1) 3 holes M4 x 0.7 at 120° on 42 PCD. TC M3 x 8 screw fixings. (2) 3 counterbored holes for TC M4 x 8 screws at 120° on 48 PCD.
(1) 4 holes Ø 6.6 at 120° on 60 PCD. Countersunk for TZ M6 x 16 screws. (2) 4 holes M5 x 0.8 at 90° on 78 PCD.
XCC RB3 IP 67 sealed collar for Ø 58 encoders: XCC 1510P, XCC 2510P and XCC 3510PSppSpN
5
Ø58
Ø36 f7
(1)
6 Nitrile seal
10
VITON seal
(2)
13,5 18
7
(1) 3 holes M3 x 0.5 at 120°on 48 PCD. TZ M3 x 8 screw fixings. (2) Shaft Ø 10 mm.
8
9
10
7/37
Dimensions (continued)
Rotary encoders
0
OsiSense XCC Accessories
Plain brackets
1
XCC RE5S
XCC RE5SN
XCC RE9SN
(1)
45
2
Ø40 116
(1)
45
80
80
Ø36
70
6
(1) (2)
Ø50 G8
6
3
Ø32
110
2xØ7 63
60
60
6
17
40
40
6
23
3
80 30
80
10
20
4
40 (1) 3 holes Ø 4.5 at 120° on 42 PCD. 3 CHC M3 x 8 screws included. (1) 3 counterbored holes for CHC M3 screws at 120° on 48 PCD. (2) 3 counterbored holes for CHC M4 screws at 120° on 48 PCD.
5
(1) 6 holes Ø 7 for CHC M6 screws at 60° on 60 PCD.
Brackets with play compensator XCC RE9RN 20
12
XCC RE5RN
6
(2)
Ø31,8
(1)
10
160
40 mini 48 maxi
93
Ø40,1
7 (1)
10
12
60 mini 80 maxi
80
8
35
10
9
20
4xØ6,5
80
20
50
85
140
60
10 90 CHC M3 x 12 screws included (1) 3 counterbored holes for CHC M3 screws at 120° on 48 PCD. (2) 3 counterbored holes for CHC M4 screws at 120° on 48 PCD.
7/38
4xØ7
90
4xØ6,5
(1) 6 counterbored holes for CHC M6 screws at 120° on 60 PCD.
Dimensions (continued), connections
Rotary encoders
0
OsiSense XCC Accessories
Reduction collars for through shaft XCC R158RDApp
XCC R290RDPpp
Ø+2,5
For Ø 58 incremental and absolute single turn and multiturn encoders
Ø30
Ø32
ØX H7 Ø+4
40
1
For Ø 90 incremental and absolute single turn encoders
2
Ø14g7
1,5
2
12
Ø H8
1
20 58,5 XCC R158RDA06 R158RDA08 R158RDA10 R158RDA12
Ø 6 8 10 12
XCC R290RDP12 R290RDP20 R290RDP25
Ø 12 20 25
3
XCC R390RDPpp
20
4
Ø30
Ø+4
For Ø 90 absolute multiturn encoders
ØH8
2
5
63
XCC R390RDP16 R390RDP20 R390RDP25
Ø 16 20 25
6
7
8
9
10
7/39
Multiturn absolute encoders on bus
Presentation
0
OsiSense XCC CANopen Ø 58 mm encoders
Presentation The OsiSense XCC CANopen multiturn absolute Ø 58 mm encoder is designed to cater for configurations encountered in communicating industrial installations. Models XCC 3510PS84CB and XCC 3515CS84CB integrate CANopen communication protocols as standard.
1
2 105231
1 2 3 4
3
5
4
1 2 3 4 5
2 LEDs M12 male connector (CANopen incoming bus) PG9 cable gland for supply cable M12 female connector (CANopen outgoing bus) Encoder shaft
5
The CAN-Bus interface integrated in the absolute rotary encoder supports all CANopen functions. The following modes can be programmed and made operational or stopped: Pooling mode, Cyclic mode and Sync mode. The application specific protocol supports the programming of the following additional functions: - code sequence, - resolution per revolution, - global resolution, - presets, - speed and address. The connection housing assures simple assembly and addressing. It performs the function of a T coupler and has M12 connectors for the bus incoming and outgoing signals. The rotary encoder can be supplied via the CANopen bus or by using the dedicated PG9 cable gland. The address of the equipment is adjusted from the rotary switches. Encoders XCC 3510PS84CB and XCC 3515CS84CB have 2 LEDs located on the rear face of the housing to facilitate monitoring and diagnostics conforming to standard DR303-3 v1.2.1.0 (CIA). The LEDs provide information regarding the operative mode, bus errors, supply problems.
Standards Encoders XCC 3510PS84CB and XCC 3515CS84CB conform to: - standard ISO 11898, - specifications DS301 V4.02/CAN2.A, DS406 V3.1, DR303-1V1.3, DR303-3 V1.2. They are CiA certified and meet the requirements of the Schneider Electric interoperability standards.
Encoder setting-up/configuration software The CANopen bus is configured with the aid of SyCon version 2.9 software, reference SYC SPU LF. To be ordered separately. The EDS file, reference TEXCC35CB_0100E.eds, required for encoder configuration is available to download from our website www.schneider-electric.com.
6
Configurable parameters b Transmission speed Default value: 250 Kbaud, configurable from 10 Kbaud (distance 6700 m) to 1 Mbaud (distance 40 m). b Address defines encoder identification on the bus, 1 to 89. Default value: id = 1. It is defined using 2 coding wheels located in the housing. b Resolution defines the number of points per revolution (0 to 8191) b Global resolution defines the total number of codes of the encoder (0 to 33,554,431) b Direction enables defining of the counting direction of the encoder (increasing clockwise or anticlockwise) in relation to its mechanical position b Reset to X defines the value of its actual position (reset to X or reset to amount).
7
8
Communication modes
9
b Pooling mode The encoder responds to requests from the master. This mode enables programming and referring to the encoder parameters whilst in position. b Cyclic mode The encoder transmits its position cyclically. The transmission period is programmable from 0 to 65,535 ms. b Sync mode The encoder transmits its position when requested by the master synchro.
10
7/40
Characteristics
Multiturn absolute encoders on bus
0
OsiSense XCC CANopen Ø 58 mm encoders
Characteristics Encoder type Conformity
XCC 3510PS84CB e
Temperature
Operation (housing) Storage
°C °C
Degree of protection
Conforming to IEC 60529
IP 64
Vibration resistance
Conforming to IEC 60068-2-6
10 gn (f = 10…2 kHz)
Shock resistance
Conforming to IEC 60068-2-27
100 gn (6 ms, 1/2 sine wave)
XCC 3515CS84CB
1
- 40…+ 85 - 40…+ 85
2
Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand
Conforming to IEC 61000-4-2: level 2, 4 kV air; 2 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m
Materials
Aluminium Aluminium Stainless steel 6000ZZ1
6803ZZ
Ø 10, solid shaft (h8)
Ø 15, hollow shaft (F7)
Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs)
3
Conforming to IEC 61000-4-5: level 1, 500 V
Base Housing Shaft Ball bearings
4
Mechanical characteristics Shaft type Maximum rotational speed
mm Continuous
6000 rpm
Shaft moment of inertia
g.cm2
30
Torque
N.cm
0.3
daN
11
Maximum load
Radial
5
Electrical characteristics Connection
Connector
Frequency Supply
Nominal voltage
Current consumption, no-load
CANopen bus network by M12 connector (input: male; output: female), 5-pin, A coding. Supply via PG9 of each encoder kHz
800
V
24 (10-30)
mA
100 max.
Protection
Against reverse polarity and voltage peaks
Signalling
Green LED: CAN_RUN; red LED: CAN_ERR
6
7
Communication CANopen service
Structure
Conformity class Profile Specifications Speed
Product certification
S10 (Transparent Ready) DS406 V3.1, class C2 ISO 11898, DS301 V4.02/CAN2.A, DR303-1V1.3, DR303-3 V1.2. Kbps
8
10, 20, 50, 125, 250, 500, 800 and 1000 CiA Schneider Electric interoperability standards
9
10 References: page 7/42
Dimensions: page 7/43
Connections: page 7/43
7/41
Multiturn absolute encoders on bus
References
0
OsiSense XCC CANopen Ø 58 mm encoders
1
105231
CANopen Ø 58 mm encoders Description
Connection method
Output stage type
Supply voltage Reference
Weight kg
Solid shaft, Ø 10 mm Ø 58 mm multiturn absolute CANopen bus encoders Resolution 8192 pts/ 4096 turns
2
105232
XCC 3510PS84CB
3
Radial 2 x M12 connectors A coding 1 x PG9
CANopen, 11…30 V 25-bit, binary
XCC 3510PS84CB
0.560
CANopen, 11…30 V 25-bit, binary
XCC 3515CS84CB
0.570
Hollow shaft, Ø 15 mm (1) Ø 58 mm multiturn absolute CANopen bus encoders Resolution 8192 pts/ 4096 turns
Radial 2 x M12 connectors A coding 1 x PG9
Hollow shaft, Ø 6, 8, 10, 12 and 14 mm (1)
XCC 3515CS84CB 566468
Encoder type Encoders with hollow shaft XCC 3515CS84CB
4
Diameter mm Ø6
Reduction collar to be ordered (see page 7/48) XCC R358RDL06
–
Ø8
XCC R358RDL08
–
Ø 10
XCC R358RDL10
–
Ø 12
XCC R358RDL12
–
Ø 14
XCC R358RDL14
–
Connection accessories for CANopen bus Connecting cables for CANopen bus Description
Length m Connecting cables fitted with 2 0.3 elbowed type M12 connectors, 0.6 A coding 1
XCC R358RDL
5
Reference FTX CN3203
Weight kg 0.040
FTX CN3206
0.070
FTX CN3210
0.100
2
FTX CN3220
0.160
3
FTX CN3230
0.220
5
FTX CN3250
0.430
Length 50 m
Unit reference TSX CAN CA50
100 m
TSX CAN CA100
8.800
300 m
TSX CAN CA300
24.560
TSX CAN CD50
3.510
CANopen cables Description 105507
6
Standard CANopen cables conforming to IEC 60 332-1
CANopen cables 50 m for severe environments (2) 100 m or moving installations, e marking: low smoke emission. 300 m Halogen free. No flame propagation (IEC 60332-1). Resistance to oils.
TSX CAN CApp
7
Weight kg 4.930
TSX CAN CD100
7.770
TSX CAN CD300
21.760
Description
DF504021
8
DF504022
Shielded connectors, cabled by user Type
M12 female connector 5 spring terminals
Straight
Unit reference XZ CC12FDB50R
M12 male connector 5 spring terminals
Straight
XZ CC12MDB50R
XZ CC12FDB50R
XZ CCMD50R
(1) Anti-rotation device included with encoder. (2) Severe environment: - resistance to hydrocarbons, industrial oils, detergents, weld spatter, - relative humidity up to 100 %, - saline atmosphere, - extreme variations in temperature, - operating temperature between - 10 °C and + 70 °C, - moving installation.
Characteristics: page 7/41
Dimensions: page 7/43
Connections: page 7/43
9
10
7/42
Weight kg 0.020 0.025
Multiturn absolute encoders on bus
Dimensions, connections
0
OsiSense XCC CANopen Ø 58 mm encoders
CANopen Ø 58 mm encoders XCC 3510PS84CB
XCC 3515CS84CB
12
1
15
15 12
12
12
18
Ø15F7 Ø58
20˚ 20
Ø58
95
Ø63 Ø36f7
95
Ø10h8
10
2
Ø3,2 (1) (1) 15°
(2)
92
30
72
30 112
122
60
3 (1) 3 M4 holes at 120° on 48 PCD, depth: 6 mm. (2) 3 M3 holes at 120° on 48 PCD, depth: 6 mm.
(1) Flexible mounting kit, 1 x XCC RF5B mounted.
Connection CANopen
4 Bus termination resistor
RT On
RT
RT
On
5
901
78
78
78
456
x10
Encoder X
23
901
456
Bd
1st or last encoder
OUT
-
23
23
901
+
456
IN
On
x1
Permissible address range
78
4 56
x10 Example: 59
4
3
4
5 1
1 => 89 0 => reserve
4 56
78
901
23
23
901
6
x1
3 5
2
1
Bus IN M12 male connector
2
Pin
1
Function
CAN_SHLD (CAN_V+)
Terminal
+
Function
24 V
7
Bus OUT M12 female connector 2
3
4
CAN_GND CAN_H
5 CAN_L
8
– 0V
9
10 Presentation: page 7/40
Characteristics: page 7/41
References: page 7/42
7/43
Multiturn absolute encoders on bus
Presentation
OsiSense XCC PROFIBUS-DP Ø 58 mm encoders
Presentation The OsiSense XCC PROFIBUS-DP multiturn absolute Ø 58 mm encoder is designed to cater for configurations encountered in communicating industrial installations. Models XCC 3510PV84FB and XCC3515CV84FB integrate PROFIBUS-DP communication protocols as standard.
1
2 105233
1
3
2
3
4
1 2 LEDs 2 PG9 cable gland for supply cable 3 Encoder shaft
The PROFIBUS-DP bus interface integrated in the absolute rotary encoder is based on RS 485 transmission and enables speeds of up to 12 Mbps. Exchanges are possible between the master and the encoder as well as between encoders. The application specific protocol DP-V2 conforms to the class 2 profile for encoders and supports the following functions: - code sequence, - resolution per revolution, - global resolution, - presets, - soft stops, - speed and address. The housing of the encoders provides easy access to 2 coding wheels for configuration of the address. 2 LEDs are integrated to facilitate diagnostics. It performs the function of a T coupler with 3 x PG9 cable glands (2 for the bus incoming and outgoing signals, 1 for the encoder supply). PROFIBUS-DP encoders have 2 LEDs to indicate the encoder status: - Green LED: “Sta” - Red LED: “Err”.
Standards PROFIBUS-DP encoders XCC 3510PV84FB and XCC3515CV84FB conform to: - international standards IEC 61158 and IEC 61784 for PROFIBUS-DP communication - the PROFIBUS-DP standard EN 50170 Class 2 in accordance with profile 3.062 V 1.1 for the encoder application. They are certified by the PNO organisation and meet the requirements of the Schneider Electric interoperability standards.
5
Encoder setting-up/configuration software The PROFIBUS-DP bus is configured with the aid of SyCon version 2.9 software, reference SYC SPU LF. To be ordered separately. The GSD “gsd file” required for encoder configuration is available to download from our website www.schneider-electric.com.
6
Configurable parameters b Speed defines the instantaneous speed in 16-bit binary. It can be data according to 1 of 4 modes: v Steps/10 ms v Steps/100 ms v Steps/s or rpm. b Address Addressing is performed using 2 rotary switches located in the housing. The addresses possible are 1 to 99. b Resolution defines the number of points per revolution (0 to 8191) b Global resolution defines the total number of codes of the encoder (0 to 33,554,431) b Direction enables defining of the counting direction of the encoder (increasing clockwise or anticlockwise) in relation to its mechanical position b 2 soft stops one high stop and one low stop can be defined and extracted from the position word b Reset to X defines the value of its actual position (reset to X or reset to amount).
7
8
9
Communication modes 2 communication modes are possible: - simple and fast, cyclic and deterministic exchanges between the master and the encoder, - acyclic exchanges.
10
7/44
0
Characteristics
Multiturn absolute encoders on bus
0
OsiSense XCC PROFIBUS-DP Ø 58 mm encoders
Characteristics Encoder type Conformity
XCC 3510PV84FB DIN VDE 0160
Temperature
Operation (housing) Storage
°C °C
Degree of protection
Conforming to IEC 60529
IP 64
Vibration resistance
Conforming to IEC 60068-2-6
10 gn (f = 10…2 kHz)
Shock resistance
Conforming to IEC 60068-2-27
100 gn (6 ms, 1/2 sine wave)
XCC 3515CV84FB
1
- 40…+ 85 - 40…+ 85
2
Resistance to electromagnetic Electrostatic discharges interference Radiated electromagnetic fields (electromagnetic waves) Fast transients (Start/Stop interference) Surge withstand
Conforming to IEC 61000-4-2: level 2, 4 kV air; 2 kV contact Conforming to IEC 61000-4-3: level 3, 10 V/m
Materials
Aluminium Aluminium Stainless steel 6000ZZ1
6803ZZ
Ø 10, solid shaft (h8)
Ø 15, hollow shaft (F7)
Conforming to IEC 61000-4-4: level 3, 2 kV (1 kV for inputs/outputs)
3
Conforming to IEC 61000-4-5: level 1, 500 V
Base Housing Shaft Ball bearings
4
Mechanical characteristics Shaft type
mm
Maximum rotational speed
6000 rpm
Shaft moment of inertia
g.cm2
30
Torque
N.cm
0.3
daN
11
Maximum load
Radial
5
Electrical characteristics Connection
Via PG9
Frequency Supply
Nominal voltage
Current consumption, no-load
3 x PG9 entries: - 2 x PG9 entries for the PROFIBUS-DP bus - 1 x PG9, positioned in middle, for external supply (10-30 V) Due to the T integrated in the housing, the supply can be distributed on the bus.
kHz
Connections are made using screw terminals. 800
V
24 (10-30)
mA
100
Protection
Against reverse polarity and voltage peaks
Signalling
Green LED: “Sta”; red LED: “Err”
6
7
Communication PROFIBUS-DP V2 service
Profile for encoder Specifications
8
3.062 V1.1. IEC 61158, IEC 61784, EN 50170 class 2, EN 50254
Interface
RS 485
Speed
9.6 Kbps…12 Mbps max.
Product certification
PNO Schneider Electric interoperability standards
9
10 References: page 7/46
Dimensions: page 7/47
Connections: page 7/47
7/45
Multiturn absolute encoders on bus
References
0
OsiSense XCC PROFIBUS-DP Ø 58 mm encoders
References Description
105233
1
Connection method
Output stage type
Supply voltage Reference
Weight kg
Solid shaft, Ø 10 mm Ø 58 mm multiturn 3 x PG9 radial absolute PROFIBUS-DP encoders Resolution 8192 pts/ 4096 turns
XCC 3510PV84FB
XCC 3510PV84FB
0.560
PROFIBUS- 11…30 V DP, 25-bit, binary
XCC 3515CV84FB
0.570
Hollow shaft, Ø 15 mm (1)
105236
2
PROFIBUS- 11…30 V DP, 25-bit, binary
Ø 58 mm multiturn 3 x PG9 radial absolute PROFIBUS-DP encoders Resolution 8192 pts/ 4096 turns
3
Hollow shaft, Ø 6, 8, 10, 12 and 14 mm (1)
XCC 3515CV84FB 566468
Encoder type Encoders with hollow shaft XCC 3515CV84FB
4
XCC R358RDL
5
Diameter mm Ø6
Reduction collar to be ordered (see page 7/48) XCC R358RDL06
–
Ø8
XCC R358RDL08
–
Ø 10
XCC R358RDL10
–
Ø 12
XCC R358RDL12
–
Ø 14
XCC R358RDL14
–
(1) Anti-rotation device included with encoder.
6
7
8
9
10 Presentation: page 7/44
7/46
Characteristics: page 7/45
Dimensions: page 7/47
Connections: page 7/47
Multiturn absolute encoders on bus
Dimensions, connections
0
OsiSense XCC PROFIBUS-DP Ø 58 mm encoders
PROFIBUS-DP Ø 58 mm encoders XCC 3510PV84FB 20
20
XCC 3515CV84FB
Ø6,5-9
15
20
20
1
15
Ø6,5-9
Ø15F7
2 Ø58
95
20˚ 20
Ø58
18
Ø63 Ø36f7
95
Ø10h8
10
Ø3,2 (1) (1)
15°
(2)
92
30
72
30 112
122
60
(1) 3 M4 holes at 120° on 48 PCD, depth: 6 mm. (2) 3 M3 holes at 120° on 48 PCD, depth: 6 mm.
3
(1) Flexible mounting kit, 1 x XCC RF5B mounted.
Connection
4
PROFIBUS-DP
Bus termination resistor
R On
R
R
On -
+
78
456
x10
A
-
1st or last encoder
+
Encoder X
5
0 => 99
6
7
901
23
23
901
B
78
A
456
B
On
x1
Permissible address range
78
78
901
23
23
901 4 56
4 56
x10
x1
Example: 55
Terminal Function
Terminal Function
Earth
B (left)
A (left)
–
+
Bus line B (Bus in)
Bus line A (Bus in)
0V
11-30 V
B (right)
A (right)
–
+
Bus line B (Bus out)
Bus line A (Bus out)
0V
11-30 V
8
9
10
7/47
Characteristics, references
Multiturn absolute encoders
0
OsiSense XCC Accessories for CANopen and PROFIBUS-DP encoders
Homokinetic (flexible) shaft couplings with bellows Maximum torque
1
N.cm
Maximum angular misalignment
4°
Maximum lateral misalignment
mm
± 0.3
Maximum axial misalignment
mm
± 0.5
Materials
2
80
Bellows Fixing collar Screws
Stainless steel Aluminium Stainless steel
References Shaft couplings (for encoders with solid shaft) Type
3 105192
Homokinetic (flexible) with bellows
Bore diameter (encoder side) 10 mm
XCC RASpppp
4
Bore diameter (machine side) 8 mm
Reference XCC RAS1008
Weight kg 0.015
10 mm
XCC RAS1010
0.015
12 mm
XCC RAS1012
0.015
Anti-rotation devices (for encoders with hollow shaft) Description Flexible mounting kit
Features
For encoders
Reference
1 flexible fixing + screws
CANopen and PROFIBUS-DP
XCC RF5B
Weight kg 0.010
Reduction collars for encoders with hollow shaft
5
Description 105189
Reduction collars XCC R358RDL06
6
7
8
9
10
7/48
For use Reduction Reference with CANopen and PROFIBUS-DP 15 to 6 XCC R358RDL06 encoders 15 to 8 XCC R358RDL08
Weight kg 0.040 0.030
15 to 10
XCC R358RDL10
0.025
15 to 12
XCC R358RDL12
0.020
15 to 14
XCC R358RDL14
0.010
Multiturn absolute encoders
Dimensions
0
OsiSense XCC Accessories for CANopen and PROFIBUS-DP encoders
Shaft couplings XCC RASpppp Øe
Øe 10 10 10
1
Øs 8 10 12
35
9
XCC RAS1008 RAS1010 RAS1012
9
2
Øs Ø21
3 Anti-rotation device
Reduction collars
XCC RF5B
XCC R358RDLpp
Mounting on Ø 58 mm CANopen and PROFIBUS-DP encoders XCC 3510pppFB, XCC 3510pppCB, XCC 3515CpppFB, XCC 3515CpppCB
For CANopen and PROFIBUS-DP encoders
4 6
1
1
29,5
ØX F7
Ø15 h7
9,9
Ø63
1
5 52,5
10
Ø
72
35
(1)
3,5
20˚
Ø3,2
14,5
XCC R358RDL06 R358RDL08 R358RDL10 R358RDL12 R358RDL14
Ø 6 8 10 12 14
6
9
20 53
7
(1) 4 holes Ø 3.2. M3 x 6 screw fixings.
8
9
10
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