Absolute encoders

• Информационные материалы

  Функции

  Absolute encoders with SSI/EnDat and PROFIBUS DP at the top, and DRIVE‑CLiQ and PROFINET IO at the bottom

  Absolute encoders (absolute shaft encoders) are designed on the same scanning principle as incremental encoders, but have a greater number of tracks. For example, if there are 13 tracks, then 2¹³ = 8192 steps are coded in the case of single‑turn encoders. The code used is a one‑step code (gray code) which prevents any scanning errors from occurring.

  After the machine is powered up, the position value is transferred immediately to the controller. There is no need for homing.

  Absolute encoders with DRIVE‑CLiQ, SSI and EnDat are of advantage in time‑critical applications.

  In plants with a large number of encoders, encoders with PROFIBUS DP or PROFINET IO are more advantageous due to the reduced wiring overhead. Encoders with PROFIBUS DP are parameterizable and support isochronous mode with direct data exchange. The encoders with PROFINET IO are also parameterizable, additionally have two ports and support the RT and IRT operating modes.

  Single‑turn encoders

  Single‑turn encoders divide one revolution (360‑degrees mechanical) into a specific number of steps, e.g. 8192. A unique code word is assigned to each position. After 360 degrees the position values are repeated.

  Multi‑turn encoders

  Multi‑turn encoders also record the number of revolutions, in addition to the absolute position within one revolution. To do this, further code discs which are coupled via gear steps with the encoder shaft are scanned. When evaluating 12 additional tracks, this means that 2¹² = 4096 revolutions can be coded.

  Технические данные

  Article No.		6FX2001‑5.D..‑0AA1	6FX2001‑5.S..	6FX2001‑5.E..
  Product designation		Absolute encoder with DRIVE‑CLiQ	Absolute encoder with SSI	Absolute encoder with EnDat
  Operating voltage DC Vp on encoder	V	24 -15 % +20 %	10 ... 30	5 ±5 %
  Current consumption, approx.
  Single‑turn	mA	245	160	160
  Multi‑turn	mA	325	200	200
  Interface		DRIVE‑CLiQ	SSI	EnDat
  Clock input		–	Differential cable receiver acc. to EIA standard RS485	Differential cable receiver acc. to EIA standard RS485
  Data output		DRIVE‑CLiQ	Differential cable driver acc. to EIA standard RS485	Differential cable driver acc. to EIA standard RS485
  Short‑circuit strength		Yes	Yes	Yes
  Transmission rate	Mbit/s	100	–	–
  	kHz	–	100 ... 1000	100 ... 2000
  Speed, max.
  Electrical	rpm	14000	–	–
  At ± 1 bit accuracy	rpm	–	5000	5000
  At ± 100 bit accuracy	rpm	–	10000	10000
  Mechanical
  Single‑turn	rpm	12000	12000	12000
  Multi‑turn	rpm	10000	10000	10000
  Cable length to downstream electronics, max.1)	m (ft)	100 (328)	–	–
  Up to 100‑kHz‑cycle	m (ft)	–	400 (1312)	–
  Up to 300‑kHz‑cycle	m (ft)	–	100 (328)	150 (492)
  Up to 1‑MHz‑cycle	m (ft)	–	50 (164)	50 (164)
  Connection		DRIVE‑CLiQ connector, radial	Flange outlet, axial/radial	Flange outlet, axial/radial
  Resolution
  Single‑turn	bit	22	13 (8192 steps)	13 (8192 steps)
  Multi‑turn	bit	34 (22 bit single‑turn + 12 bit multi‑turn)	25 (8192 steps × 4096 revolutions)	25 (8192 steps × 4096 revolutions)
  Frame
  Single‑turn	bit	–	13 without parity	According to EnDat specification
  Multi‑turn	bit	–	25 without parity	According to EnDat specification
  Incremental track	S/R	2048, 1 Vpp (internal only)	–	512, 1 Vpp
  Code type
  Sampling		Gray	Gray	Gray
  Transfer		DRIVE‑CLiQ	Gray, fir tree format	Binary
  Parameterization capability
  Preset		–	Set to zero	–
  Counting direction		Yes	Yes	–
  Accuracy	arcsec	± 36	± 79 (with 8192 steps)	± 60 (Incremental track)
  Friction torque (at 20 °C) (68 °F)	Nm (lbf‑in)	≤ 0.01 (0.09)	≤ 0.01 (0.09)	≤ 0.01 (0.09)
  Starting torque (at 20 °C) (68 °F)	Nm (lbf‑in)	≤ 0.01 (0.09)	≤ 0.01 (0.09)	≤ 0.01 (0.09)
  Shaft loading capacity
  n ≤ 6000 rpm
  Axial	N (lbf)	40 (8.99)	40 (8.99)	40 (8.99)
  Radial at shaft extension	N (lbf)	60 (13.5)	60 (13.5)	60 (13.5)
  n > 6000 rpm
  Axial	N (lbf)	10 (2.25)	10 (2.25)	10 (2.25)
  Radial at shaft extension	N (lbf)	20 (4.50)	20 (4.50)	20 (4.50)
  Shaft diameter
  Synchro flange	mm (in)	6 (0.24)	6 (0.24)	6 (0.24)
  Clamp flange	mm (in)	10 (0.39)	10 (0.39)	10 (0.39)
  Torque arm Hollow shaft	mm (in)	10/12 (0.39/0.47)	–	–
  Shaft length
  Synchro flange	mm (in)	10 (0.39)	10 (0.39)	10 (0.39)
  Clamp flange	mm (in)	20 (0.79)	20 (0.79)	20 (0.79)
  Angular acceleration, max.	rad/s2	105	105	105
  Moment of inertia of rotor
  Solid shaft	kgm2 (lbf‑in‑s2)	1.90 × 10-6 (16.8 × 10-6)	1.45 × 10-6 (12.8 × 10-6)	1.45 × 10-6 (12.8 × 10-6)
  Hollow shaft	kgm2 (lbf‑in‑s2)	2.80 × 10-6 (24.8 × 10-6)	–	–
  Vibration (55 ... 2000 Hz) in accordance with EN 60068‑2‑6	m/s2 (ft/s2)	≤ 100 (328)	≤ 300 (984)	≤ 300 (984)
  Shock in accordance with EN 60068‑2‑27
  2 ms	m/s2 (ft/s2)	≤ 2000 (6562)	≤ 2000 (6562)	≤ 2000 (6562)
  6 ms	m/s2 (ft/s2)	≤ 1000 (3281)	≤ 1000 (3281)	≤ 1000 (3281)
  Degree of protection acc. to EN 60529 (IEC 60529)
  Without shaft input		IP67	IP67	IP67
  With shaft input		IP64	IP64	IP64
  Ambient temperature
  Operation	°C (°F)	‑20 ... +100 (‑4 … +212)	‑40 ... +85 (‑40 … +185)	‑40 ... +100 (‑40 … +212)
  Net weight
  Single‑turn	kg (lb)	0.4 (0.88)	0.35 (0.77)	0.35 (0.77)
  Multi‑turn	kg (lb)	0.5 (1.10)	0.35 (0.77)	0.35 (0.77)
  EMC		Tested in accordance with DIN EN 50081 and EN 50082	Tested in accordance with DIN EN 50081 and EN 50082	Tested in accordance with DIN EN 50081 and EN 50082
  Certificate of suitability		CE, cULus	CE, cULus	CE, cULus

  
  
  

  S/R = signals/revolution

  ¹⁾ Observe the max. permissible cable length of the connected module.

  Article No.		6FX2001‑5.P..	6FX2001‑5.N..
  Product designation		Absolute encoder with PROFIBUS DP	Absolute encoder with PROFINET IO
  Operating voltage DC Vp on encoder	V	10 ... 30	10 ... 30
  Current consumption, approx.
  Single‑turn	mA	300 ... 100 (2.5 W)	400 ... 130 (< 4 W)
  Multi‑turn	mA	300 ... 100 (2.5 W)	400 ... 130 (< 4 W)
  Interface		PROFIBUS DP‑V2	PROFINET IO with RT/IRT
  Clock input		Differential cable receiver acc. to EIA standard RS485	2 ports IRT
  Data output		Differential cable driver acc. to EIA standard RS485	2 ports IRT
  Short‑circuit strength		Yes	Yes
  Transmission rate	Mbit/s	12	100
  LED for diagnostics		Green/red	Green/red/yellow
  Speed, max.
  Electrical
  At ± 1 bit accuracy	rpm	5800	5800
  Mechanical
  Single‑turn	rpm	12000	12000
  Multi‑turn	rpm	6000	6000
  Cable length to downstream electronics, max.1)
  Up to 93.75 kbit/s	m (ft)	1200 (3937)	–
  Up to 1.5 Mbit/s	m (ft)	200 (656)	–
  Up to 12 Mbit/s	m (ft)	100 (328)	100 (328)
  Number of nodes		99	–
  Connection		Terminal block with address selector switch and bus terminating resistor in removable cover with radial cable glands (3 units)	2 × M12 plug connectors, 4-pole for PROFINET ports 1 × M12 plug connector, 4-pole for operating voltage
  Cable diameter	mm (in)	6,5 ... 9 (0.26 … 0.35) Removal of cover possible without interrupting bus	–
  Resolution
  Single‑turn	bit	13 (8192 steps)	13 (8192 steps)
  Multi‑turn	bit	27 (8192 steps × 16384 revolutions)	27 (8192 steps × 16384 revolutions)
  Frame		According to PNO encoder profile V 4.1 Class 1, Class 2, Class 3 Standard frame 81	According to PNO encoder profile V 4.1 Class 1, Class 2, Class 3, Class 4 Standard frames 81/82/83/84 Siemens frame 860
  Code type
  Sampling		Gray	Gray
  Transmission		Binary, PROFIBUS	Binary, PROFINET
  Bus load, approx.
  At 12 Mbit/s per encoder	µs	20	–
  Cycle time	ms	0.667	1 ... 100
  Parameterization capability
  Resolution per revolution		1 ... 8192	1 ... 8192
  Total resolution		1 ... 16384	1 ... 16384
  Preset		Yes	Yes
  Counting direction		Yes	Yes
  Speed signal		Yes	Yes
  Limit switches		Yes, 2 units	No
  Isochronous mode		Yes	Yes
  Direct data exchange		Yes	No
  Online parameterization		Yes	Yes
  PNO certificate		Yes	Yes
  Supported profiles		PNO encoder profile V4.1	PNO encoder profile V4.1
  Accuracy with 8192 steps	arcsec	± 79 (± ½ LSB)	± 79 (± ½ LSB)
  Friction torque (at 20 °C) (68 °F)	Nm (lbf‑in)	≤ 0.01 (0.09)	≤ 0.01 (0.09)
  Starting torque (at 20 °C) (68 °F)	Nm (lbf‑in)	≤ 0.01 (0.09)	≤ 0.01 (0.09)
  Shaft loading capacity
  n ≤ 6000 rpm
  Axial	N (lbf)	40 (8.99)	40 (8.99)
  Radial at shaft extension	N (lbf)	110 (24.73)	110 (24.73)
  n > 6000 rpm
  Axial	N (lbf)	10 (2.25)	10 (2.25)
  Radial at shaft extension	N (lbf)	20 (4.50)	20 (4.50)
  Shaft diameter
  Synchro flange	mm (in)	6 (0.24)	6 (0.24)
  Clamp flange	mm (in)	10 (0.39)	10 (0.39)
  Torque arm Hollow shaft	mm (in)	15 (0.59)2)	15 (0.59)2)
  Shaft length
  Synchro flange	mm (in)	10 (0.39)	10 (0.39)
  Clamp flange	mm (in)	20 (0.79)	20 (0.79)
  Angular acceleration, max.	rad/s2	105	105
  Moment of inertia of rotor
  Solid shaft	kgm2 (lbf‑in‑s2)	1.90 × 10-6 (16.8 × 10-6)	1.90 × 10-6 (16.8 × 10-6)
  Hollow shaft	kgm2 (lbf‑in‑s2)	2.80 × 10-6 (24.8 × 10-6)	2.80 × 10-6 (24.8 × 10-6)
  Vibration (55 ... 2000 Hz) acc. to EN 60068‑2‑6	m/s2 (ft/s2)	≤ 100 (328)	≤ 100 (328)
  Shock acc. to EN 60068‑2‑27
  2 ms	m/s2 (ft/s2)	≤ 2000 (6562)	≤ 2000 (6562)
  6 ms	m/s2 (ft/s2)	≤ 1000 (3281)	≤ 1000 (3281)
  Degree of protection acc. to EN 60529 (IEC 60529)
  Without shaft input		IP67	IP67
  With shaft input		IP64	IP64
  Ambient temperature
  Operation	°C (°F)	‑40 ... +85  (‑40 … +185)	‑40 ... +85  (‑40 … +185)
  Net weight
  Single‑turn	kg (lb)	0.4 (0.88)	0.4 (0.88)
  Multi‑turn	kg (lb)	0.5 (1.10)	0.5 (1.10)
  EMC		Tested in accordance with DIN EN 50081 and EN 50082	Tested in accordance with DIN EN 50081 and EN 50082
  Certificate of suitability		CE, cULus	CE, cULus

  
  
  

  ¹⁾ Observe the max. permissible cable length of the connected module.

  ²⁾ Hollow shaft diameter of 12 mm, 10 mm or 8 mm (0.47 in, 0.39 in or 0.31 in) possible via reduction sleeves included in the delivery.

  Дальнейшая информация

  Since the DRIVE-CLiQ interface has been disclosed, it is possible to use other makes of absolute encoder with integrated DRIVE-CLiQ interface. You can find further information at:

  https://support.industry.siemens.com/cs/ww/en/view/65402168