Académique Documents
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Version 1.1
Supporting information on Lenord + Bauer's encoders encoder kits (MiniCoder) linear scales controllers
Contents:
1 Sensors 1.1 Survey for encoders 1.2. Signal pattern 1.3 Connectors and cable assignments 1.4 Obsolete appliances and their replacement types 1.5 Frequently asked questions 1.6 Unique features of encoder kits and encoders 2. Controllers 2.1 Survey for controllers 2.2 Frequently asked questions 2.4 Unique features of controllers 2.3 EcoPLC first steps 3. Demonstration products 3.1 Demonstration and test sheets for MiniCoders 3.2 Demo table on automation of motion (poster format) 4. Test devices
This information is supplied without any liability on our part! No liability accepted for printing and other errors! Author: Georg Sztefka Date: 09.06.2000
Lenord, Bauer & Co. GmbH Dohlenstrae 32 46145 Oberhausen (Germany) Phone +49 208 99 63 - 0 Fax +49 208 67 62 92 Internet: http://www.lenord.de E-Mail: info@lenord.de
Project Handling
We will help you in the very beginning of a project! We will consult you to find the right products and their combination to meet
We suggest the following procedure to handle a project: Your inquiry by email or fax should contain: a project name to refer to the same problem general description of the machine a brief explanation of the application (number of axes, functionality, etc.) the specifications of your customer (speed, load, force, precession, inputs/outputs, bus systems, etc.) a drawing is always helpful We will answer by email or fax: further questions which you have to discuss with your customer (e.g. different resolution possible, speed really necessary, is a higher torque acceptable [price!]?) products with article code a drawing of the constellation with our products if necassary (products, cables, connector blocks, etc.) In practise we will need several iterations (questions and answers) to reach the last two points.
1.1 Survey on linear encoders and encoder kits supplied by Lenord + Bauer Incremental systems (standard types, special types upon request)
Structural shape Mechanic coupling, measureing wheel or rod Precision pulse number / resolution Signal pattern and driver
mounting method
GEL ITEM
295 Encoder 294 295 294 293 292 260 219 209 208 207 108 107
Euro-flange Euro-flange Euro-flange Euro-flange Euro-flange Euro-flange synchro flange rectangular flange bearing block clamping flange synchro flange clamping flange synchro flange
D=115 mm D=115 mm D=115 mm D=115 mm D=115 mm D=115 mm D=90 mm D=60 mm D=58 mm D=58 mm D=58 mm D=58 mm D=58 mm
shaft shaft hollow shaft* hollow shaft* hollow shaft hollow shaft shaft shaft shaft shaft shaft shaft shaft *electr. isolated mat. measure
250 N 250 N 1,5 mm 1,5 mm 3 mm 3 mm 200 N 500 N 500 N 200 N 200 N 60 N 40 N 0,2 mm 0,2 mm 0,5 mm 0,5 mm
E F K L M N T U V X 75 ... 256 K N 75 ... 256 N T V X 116-152, 195-256 K N 116-152, 195-256 N T V X 40 ... 10000 N T U V X A,B,C S 40 ... 10000 N T U V X A,B,C S 10 ... 10000 N T U V X A,B,C S 10 ... 5000 N T U V X 10 ... 5000 N T U V X 10 ... 5000 N T U V X 10 ... 5000 N T U V X 100,500,1000,1024,2500 N T* V alarm 100,500,1000,1024,2500 N T* V alarm *short circuit resistant 1s air gap
Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull* Push/Pull Push/Pull *perman. ...
flange with feather key pipe+flange+alignm. pin pipe flange with feather key pipe
m=1...3,5 m=1...3,5 m=0.3 and 0.5 m=0.3 and 0.5 m=0.5 and 1
module, pitch
600 m E 700 m E F 100 m resp. 150 m K M N T 100 m resp. 150 m K M N T 150 m, 300 m L M N T
V V X V X
T,D,H (W)
rod mounting block, etc. 85 x53x40 mm rod mounting block, etc. 86 x53x40 mm
10 m 100 m
N T U V X N T U V X
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output amplifier
mounting size
device / kit
special
Environmental conditions / impacts humidity protection condensed water outlet vibration protection option Ex-protection option housing material
Classic application rail vehicles mechanical engineering bulb/press manufacturing motors Ex-protection food industriy offshore metallurgy/mills wood processing plate processing heavy industry
Remarks
operation temperature
200g 20g -40...+120 C 200g 20g -40...+120 C 200g 20g -40...+120 C 200g 20g -40...+120 C 100g 10g -20...+85 C 100g 10g -20...+85 C 100g 10g -20...+85 C 100g 10g -20...+85 C 100g 10g -20...+85 C 100g 10g -20...+85 C 100g 10g -20...+85 C 100g 10g -10...+70 C 100g 10g -10...+70 C ... short circuit resistant
IP67 IP67 IP67 IP67 IP66 IP66 IP65 IP65 IP65 IP65 IP65 IP65 IP65
protection type
Vibration
shock
S S S S X X X X X X X
X X X X X X X
S S S S X X X X X X X X
stainless steel stainless steel stainless steel stainless steel plastic, metal flange
X X X X X X X X X X X X
X X X X X X X
X X X X
X X X X
X X X X
X X X X
X X X X X X
X X X X X X
X X X X
very robust very robust very robust very robust can directly be mounted on motor shaft end (bore in shaft required) Tandem combination, several devices mounted on one shaft high resolution extreme shaft load with robust mounting flange integrated in the bearing block for heavy loads (cog belt, small conveyor belts) extensive accessories (measruring wheel, supports, bearing blocks,couplings) extensive accessories (couplings) for less demanding applications for less demanding applications
295 294 295 294 293 292 260 219 209 208 207 108 107
200g 20g -20...+85 C 200g 20g -40...+135 C 200g 20g -40...+120 C 200g 20g -40...+120 C 200g 20g -40...+85 C short circuit resistant
X X X X X
X X X
gear block manuf., vibration support, toothed wheel pumps, screwer simple mounting without adjustment, Option: Ex-protection pipe encoder for precision application very compact for precision application very compact and easily incorporable in many different ways
100g 10g -20...+85 C 100g 10g -20...+85 C ... short circuit resistant
IP66 IP66
plastic, hard chrome plated. meas. rod plastic, hard chrome plated meas. rod
X X
X X
X X X X
encapsulated system, very easy to mount encapsulated system, very easy to mount
221 220
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GEL ITEM
A B C D D E F H H I
analogue analogue analogue rectangle rectangle rectangle rectangle rectangle monoflop monoflop
10-30 V 10-30 V 10-30 V 10-30 V 7-30 V 10-30 V 10-30 V 10-30 V 7-30 V 10-30 V
K L M N P P Q R R S S T U V W W X Z
sinusoidal sinusoidal rectangle rectangle rectangle monoflop rectangle pulse level pulse monoflop 5,20,100s, etc. rectangle rectangle rectangle rectangle level rectangle rectangle
5V 5V 5V
5 V, 10-35 V approx. Ub 5V approx. Ub 10-35 V 5V 5V 7-30 V 5V 10-35 V 5V 10-35 V 10-35 V 10-16,5 V 10-30 V 10-35 V 10-35 V approx. Ub approx. Ub approx. Ub approx. Ub approx. Ub approx. Ub approx. Ub 5V approx. Ub approx. Ub approx. Ub approx. Ub approx. Ub
T and X are signal and connector compatible to competition products Note: E V X (E is integrated in V and V is integrated in U) Definition: With view on clockwise turning/revolving shaft track 1 is leading and track 2 is delayed by 90.
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1.3 Connector and cable layout/assignment for linear scales, encoders, encoder kits and testing devices
The L+B declaration for flat connectors is valid: Pin 1 located on top (vertical installation - top view on the mounted/plugged-in connector) Pin 1 located left-hand (horizontal installation - top view on the mounted/plugged-in connector)
description 4 pole 6 pole 6 pole 7 pole 9 pole circular connector 10 pole 10 pole 12 pole 12 pole 12 pole 9 pole rectangle 10 pole 8 pole Sub D 9 pole 6 pole 6 pole 6 pole 9 pole 9 pole cable 10 pole 10 pole 10 pole 12 pole 12 pole
pink black white brown purple yellow red blue 204T,V,X 205T,V,X 206T,V,X
A /A B /B
90 /90 0 /0
B C
B C D
C B D F A
1 2 6 7
Us
D A
F A
5 3
B G C H D I F A
2 3 6 4 1
B G C H D I F A
C H B G D I F A
3 6 4 7 5 8 2 1
8 1 5 6 3 4 12 10
5 6 8 1 3 4 12 10 2 11 7
1 5 2 6 3 7 8 4
2 3 4 5 7 8 1 9 6 10
1 2 3 4 8 9 6 5
white
brown
yellow black
white brown pink black purple yellow red blue green red/blue
brown
white
white brown
grey
grey
yellow green
yellow green
red blue
red blue
pink
grey yellow/black
grey
265V 202V 207V 243T 204E,V 208V 205E,V 209V 206E,V 219V 262A,B,C,E,V,S 264E,V 266 267
205V
240 293T,U,V,X Hohner 204T,V,X 259 205T,V,X 266 206T,V,X 267X 268 269 291A,B,C,E,T,V,X
210K Z1 EcoCon 202V 207V Phoenix KleZ2 EcoCon 204E,V 208V 205E,V 209V 206E,V 219V 262A,B,C,E,V,S
107T,V 108T,V
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obsolete type
292 291 290 272 269 268 266 265 264 263 262 261 259 240 218 217 206 205 204 203 202 201 25
hollow shaft tandem encoder, can be combined with 290, 291, 292, 150 hollow shaft encoder hollow shaft encoder tacho, option pulse- and analogue output, 4 pole male connector Option stand still control 4 pole male connector same as 262 but suitable for Ex-protection area Tacho, 0 -0,5 rpm up to 0-10000 rpm, former signal pattern I, Z, R, W, (A_signal polarity switchable) synchro flange 70mm diameter sinusoidal encoder, flange same as 260, flat housing
not all signal pattern replaceable not all signal pattern replaceable not all signal pattern replaceable not all signal pattern replaceable not all signal pattern replaceable not all signal pattern replaceable 259 flange + 208 electronics possible
very flat encoder with sinusoidal 2Vss output at 20mA constant current supply, one track signal
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remarks
08.05.00
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How to carefully choose the appropriate Sensor or: Questions customers often ask.
When to use which signal pattern? The common signal pattern for 5V is the T-shape signal and the V-shape signal for 10-35 V supply (10-30 V for some appliances). In addition to the V-shape signals the X-signal pattern also offers inverse signals (same as T). When to use which housing type? In most cases the standard housing (GEL 107, 108, 207, 208, 209) is sufficient. The bigger housings of GEL 260 up to type GEL 293 offer a higher resolution. The GEL 293 is relatively flat device (small mounting depth) When to choose a MiniCoder? if non-contacting, i.e. wear-free, measuring is required if neither end of the shaft is free if conventional hollow-shaft encoders cannot comply with the shaft diameter in case of high speeds in case of high protection classes in case of high temperatures When better not to choose a MiniCoder? If, for instance, the radial shaft allowance/clearance exceeds the air-gap tolerance. Which MiniCoder model? The air-gap tolerance might be a criterion. See the respective table. Safety integrated for Sinumerik? The control (Sinumerik 840C/CE and 840D/DE) recognizes all encoder errors relevant to safety. We can supply you with a more detailed description regarding this subject. Which are the most important toothed-wheel sizes? The max. outside diameter is determined by the space available in the housing. The shaft diameter influences the inside diameter. Bear in mind the bearing clearance! Which precision can be achieved? The resolution of the revolution (number of teeth, module) and the tolerances (air gap, angle of installation) determine the precision. With an internal or external interpolation the precision is enormously increased by the factor of the interpolation. Some of our customers interpolate up to 2,000 times. Which phase errors can be tolerated? It depends on the interpolation factor. We have an application paper on this subject for the GEL 244. When to use an external interpolation? When long cables require a low signal slope (sinusoidal, cosine signal). When EMC related problems are to be expected. When a high precision is essential.
Confidential
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______________________________________________ When better not to use an external interpolation? When a compact installation without additional wiring is of immediate importance. When to provide for a humidity protection? In case of temperature fluctuations. When to provide for a condensed-water outlet? In case of important temperature fluctuations in a humid environment. What has to be taken into account when using a condensed-water outlet? It must always be located at the deepest position, i.e. if the flange bores are used to fix the encoder, this must be taken into account to find the right position for the outlet (the customer must define the position of the outlet). Drawings for radial and axial installation are available (GEL 207 through 219 and 293, drawing nos. 293KW0001-000 and 207KW0002-001). When should I use a vibration protection? If the appliance must be shock-proof up to 200g and a protection against vibration is required which is correspondingly strong. How many pulses are necessary? As a rule, the required resolution of the angle of rotation or the detection of the smallest or biggest RPM determine the pulse number. Please note that high pulse numbers per revolution may result in very high signal frequencies in connection with high speeds. The line drivers must recharge the cable capacity correspondingly often. Furthermore, the cable capacity increases with the cable length. Each recharge increases the line drivers dissipation! Do also bear in mind the input frequency of the counter card. (EcoController accepts max. 200 kHz) What is an Euro flange (also named B10)? This is an encoder flange with the following size: centering shoulder 85h6 mm, scribed circle 100 mm, OD 115 mm. What is a servo flange? A servo flange is a flange for encoders: round flange with a diameter of 58 mm and circular groove for a clamping device. What is a clamping flange? Name of/Designation for an encoder flange: round flange for tightening. Which standards are applicable to encoders? DIN 32878, DIN 66348; DIN 66258; DIN IEC 625; DIN 1319
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Confidential
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1.6 Unique characteristics: Sensors 1.6.1 Standard encoders for use under rough conditions in industry (207, 208, 209, 260, 293)
Thanks to their nature design and their magnetically and incrementally operating measuring systems the robust standard encoders are best suited for being used under roughest conditions in industry. By means of standard mounting flanges and due to the standard output signal patterns with various voltages their easy installation and integration into complex control tasks becomes possible.
Unique characteristics
The unique characteristics result from the robust magnetic measuring principle. In case of heavy shock or intensive vibrations the measuring wheels of optical systems get deformed or broken, whereas the toothed wheel made of steel which is used in the magnetic system works trouble-free under such circumstances. When optical systems get steamed up in high humdity of air and in case of high temperature fluctuations they stop working. The magnetic measuring system, however, does even function, if the toothed wheel is dewed or dirty. The measuring system (not the electronics) even resists increased nuclear radiation. Further advantages: solid assembly base with 16-mm shaft and 500 N bearing load available the GEL 293 has a small front-to-back size 2 systems on one shaft are feasible with the tandem encoder
Confidential
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Unique characteristics
The unique characteristics are due to the robust magnetic measuring system. In case of heavy shock or intensive vibrations the measuring rods of optical systems get deformed or broken, whereas the rolled measuring rods made of steel which are used in the magnetic system work trouble-free under such circumstances. Optical systems stop working if they get dirty and steamed up should the humidity of air and the temperature fluctuations be high. The magnetic measuring system even functions in places where dew occurs and in dirty areas.
______________________________________________ robust design high protection class IP68 use under roughest ambient conditions detection from standstill up to maximum speed
Unique characteristics
The unique characteristics result from the robust magnetic and small measuring system which can be flexibly mounted even if the shaft diameters are large. pressure-sealed systems thanks to their small compact size they can be incorporated into machines dirt, oil and humidity do not influence the result of measurement the measuring scale may have any size at all (e.g. external rim of fan impellers)
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Confidential
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Confidential
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2.1 Survey on controllers supplied by Lenord + Bauer (standard types, special types upon request)
main characteristics separated (Display+Keypad not inside the housing) working concept stearing output technology functions power supply communication interfaces encoder input programs
RS232 RS485 RS422 CAN Profibus Interbus max. incremental counter frequency
compact (CPU+Keypad+Display)
4xxx* 7xxx*, 73+74 73xx* 74xx* 76xx* 131* 83xx 86xx 8810 80xx 81xx 2000 2100 ND31**
X X X X X
X X X X
X X X X X X
X X X X X X X X X X X X
X X X X X X X X* X X X X
* **
250 280
660
X *** X X X X X X X X X X
X* 144x144 X 1-3 0,3*-3 144x288 X 1-6 1-6 168x168 X** DIN hatrail X 1 1-5 DIN hatrail X 1-6 0,3*-6 X 1 0,25** 70x275x267 X 1 0,25** 70x275x267 X 1 1 100x371x180
X X X X
X X X X X X X
X X X X X X X X X 19 X X X 19 X X 80 85 X 80 15 90 X X* (X) X* X**
X X X X X X X X X X X X X X X X X X X X X X X X* X X* X X
20 X X X 20 X X X X X 5 X X 5 X X 20 X X X X X X X X X X X X X X X X X X X X X
*0,3ms only for camshaft gear **0,5 without internal interpolation *83xx/86xx controller **80xx/81xx controller
*24V for electronics and 230-480V for amplifier **24V for electronics and 230V for amplifier
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circular interpolation
fast/slow switching
free programming
synchronization
GEL Item
cycle time / ms
controlled axis
relay contacts
housing / mm
rotating knife
positioning
coil winder
flying saw
cam profil
transistor
CAN bus
AC 115V
AC 230V
DC 24V
AC 18V
analog
ramps
camshaft gear
multipleaxes positioning (slave-slave with one virtual master) linear interpolation circle interpolation
master-slave synchronization
compact device
rotating knife
independent
coil winder
flying saw
cam profil
special functions
x x x
x x x x x x
x x x
x x x
x x x
x x x x x x
x x x x
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LogiPanel
08.05.00
question
y y Can the inputs be used for start, stop and referencing? How can we influence the cutting length? Feedback of the slave possible by an external encoder and can it be switched?
8820
answer
y y y y y y y y y y y y y y
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Confidential
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______________________________________________ inputs and outputs are freely programmable positioner plus logic functions individually designed control elements (free allocation of keys and any desired text in various languages)
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Confidential
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2.5.2 Case B: PC + 2 Ecos + 1 Operating Terminal PC communication with the Ecos has to be effected via RS 485 (bus from PC to the Ecos) if all Ecos in one project shall be programmed via PC. In case the PC will be integrated in the bus system of the RS 485 communication it is not necessary (see case of RS 232 connection) to switch the communication cable from Eco to Eco in order to load programs and parameters.
Is the RS485/RS232 converter required? In case the PC interfaces do not provide a RS 485 connection, a converter is necessary in oder to manage all Ecos of one project. With a RS232 interface only one Eco can be managed via PC. In this case you have to disconnect Eco 1 and connect Eco 2 for programming. GEL 89025 or GEL 89026 (PC/converter), GEL 89015 (converter/Eco), GEL 89019 (Eco/Terminal) Slave Eco to Slave Eco: GEL 89016 EED (which application case?) Master Eco to Slave Eco: GEL 89016 SED (master and slave axis in different devices) Wiring of cables? Where are they to be placed? The wiring of cables is described in the corresponding chapters in the manuals. Ready-made cables can be ordered. GEL 89025: RS232 inteface, e.g. COM2 at PC to converter GEL 89015: converter to plug B at Eco (not C Framing Error) GEL 89016 EED/SED: Plug B at Eco1 to plug B at Eco2 GEL 89019: plug B at Eco to plug B at the Operating Terminal Which DIP connector adjustment? SW1.1 ON (B1.1 in parallel to B2.1); SW5 ON (RS485, OFF = RS422)
Confidential
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______________________________________________ Voltage supply First switching on Ecos: e.g. N1 and N2 for 24V AC Terminal: e.g. A1 and A2 for 24V AC At the Eco prepare the start/stop input (terminal J8): First apply 0 V or leave open, otherwise the Eco starts without a program and shows an error (system error no. 1 = no program). After this incident, switch the Eco off and then on again. In case the Eco is not switched off, programs will not really be loaded and are not saved into memory. At the Operating Terminal the correct controller address has to be selected. The Ecos have to be connected subsequently to the PC interface resp. to the converter. Then load the parameters. This is important because the individual device address has to be assigned to the Eco prior to be connected to the bus system. Devices with the same addresses on a RS485 bus connection cannot be identified thus leading to bus conflicts/errors. Normal switching on Connect all equipment parts to the RS485 bus (PC probably via converter)
2.5.3 Case C: PC + 2 Ecos + 2 Operating Terminals Equal to case B (see previous section), but exception is that the connection line from Eco to Eco must not connect Ser3! In this case one terminal is assigned to each Eco.
Connection Eco / Eco Connection PC converter/Eco Disconnect Pin 9 and Pin 5 of cable GEL 89016 EED/SED! One Operating Terminal cable has to be removed temporarily. Thus, the connecting line to the PC converter can be connected to a free Eco B connector. Here, a special cable with two connectors connected in parallel enables an additional bus connection.
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Confidential
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3 Demo products
3.4 MiniCoder demo panels
You can buy or rent each device from LENORD+BAUER, please contact us.
GEL 243
GEL 244
GEL 247
GEL 248
Confidential
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4 Testing devices
You will find below a copy of the original document of the follwing testing devices:
GEL 210 T/X, for encoders with rectangular outputs GEL 210 K, for encoders with sinusoidal outputs
Confidential
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09/99
Fields of application:
display high signal (red) display low signal (green) (other LEDs accordingly)
This device serves to check encoders with square-wave signal-outputs with the following signal shapes:
T, TN
TRACK 1
TRACK 2
GND
TRACK 1 TRACK 2 N
UB
ON
8 6 11 5 4 9 1 7 12 10 2 3
Functioning:
connector for encoder
Each signal output of the encoder is checked for its ability to deliver a valid high or low signal. This is acknowledged by either the red or the green LED. One output is loaded with approx. 2.8 kW against 0 V and against UB. The low level must not be higher than 20 % of the operating voltage. High level must be at least 80 % of the operating voltage. If the signal levels are not correct or there is no output signal at all (e.g. a failure of contact), the corresponding LED is off. For the signal shape V there is no display for the inverse signals (lower row of LEDs).
Caution:
The encoder to be tested needs to be fed via the testing device GEL 210.
Pin layout
Type code
210
encoder supply
+
XX TX-
description signal pattern square-wave signal 5 V and their inverse signals square-wave signal 10 ... 30 V with reference signal
UB
X, V 10 ... 30 V +5V+5% T
US
10 ... 30 V +5V+5%
reference earth
V
8 6 11 5 4 9 1 7 12 10 2 3
VN
T X
TN XN
This information is supplied without liability. Printing and other errors excepted.
GEL 210 K
Operating instructions
Field of application:
Alignment of MiniCoders GEL 244 K, KN, KM Testing of various encoders with sinusoidal outputs Floating measuring
Function:
With the testing device the sine and cosine wave signals of the encoder are checked for admissible signal levels. The 3-digit LC display (background lightened) displays the following measurands: amplitude of sine and cosine track (voltage) offset values of both signal tracks (voltage) phase deviation between signal tracks with respect to 90 (degree) correct function of reference track (voltage) Changing the measurement range is effected by means of the laterally installed push button (with each actuation the measurement range is scrolled down). The active range is indicated by the respective LED.
Technical data:
Operating voltage Supply current without sensor Operating temperature Frequency range Dimension (WHD) Weight excl. mains adapter 5 VDC 5% < 100 mA +10 +40 C 0.1 4 kHz 8415730 mm 200 g
5. Phase mismatch relative to 90 between Tracks A and B -5.00 +5.00 degree 6. Amplitude (zero peak) Track N 7. Offset Track N > 0.200 V -0.400 - 0.100 VDC
This information is supplied without liability. Printing and other errors excepted!
Lenord, Bauer & Co. GmbH Dohlenstrae 32 46145 Oberhausen (Germany) Phone. +49 (0) 208-99 63-0 Fax +49 (0) 208-67 62 92 E-Mail: info@lenord.de Internet: http://www.lenord.de
05/99
GEL 210 K
Connection diagram:
NC
GND UNUN+
NC
UBUB+ UAUA+ +5 V
+5 Volt ext.
alternatively:
GND +5 V
DS12-210K
GEL 210 K
UA+, UA-
Amplitude Track A:
UB+, UB-
Amplitude Track B:
Offset error
UA+, UA-
Offset Track A:
UB+, UB-
Offset Track B:
Phase error
UA+, UB+
Zero mark Measuring of the reference track (N) amplitude and offset for monitor purposes only. For correction the zero mark must be adjusted mechanically. Amplitude (zero peak) Track N: Offset Track N:
DS12-210K
> 0.200