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Absolute encoders – multiturn
Standard
ATEX / IECEx – zone 1 / 21, mechanical multiturn, optical Sendix 7068 (shaft) CANopen
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Technical data
Explosion protection ATEX Electrical characteristics
EC type-examination certificate PTB09 ATEX 1106 X Power supply 10 ... 30 V DC
Category (gas) II 2 G Ex d IIC T4 - T6 Gb Current consumption (no load) max. 100 mA
Category (dust) II 2D Ex tb IIIC T135°C - T85°C Db IP6x Reverse polarity protection yes
Directive 94/9/EC EN 60079-0:2009; for power supply
EN 60079-1:2007; CE compliant acc. to EMC guideline 2004/108/EC
EN 60079-31:2009 ATEX guideline 94/9/EC
RoHS guideline 2011/65/EU
Explosion protection IECEx
Certificate of conformity (CoC) IECEx PTB 13.0026 X
Interface characteristics CANopen
Category (gas) Ex d IIC T4 - T6 Gb
Resolution singleturn 1 ... 65535 (16 bit), scalable
Category (dust) Ex tb IIIC T135°C - T85°C Db IP6x default: 8192 (13 bit)
IECEx IEC 60079-0:2007; Number of revolutions (multiturn) max. 4096 (12 bit)
IEC 60079-1:2007; scalable only via the total resolution
IEC 60079-31:2008
Total resolution 1 ... 268.435.456 (28 bit), scalable
default: 33.554.432 (25 bit)
Mechanical characteristics
Code binary
-1
Maximum speed 6000 min (continuous) Interface CAN high-speed acc. to ISO 11898, Absolute encoders
Starting torque – at 20°C [68°F] < 0.05 Nm Basic- and Full-CAN, multiturn
-6
Mass moment of inertia 4.0 x 10 kgm 2 CAN specification 2.0 B
Load capacity of shaft radial 80 N Protocol CANopen profile DS406 V3.2
axial 40 N with manufacturer-specific add-ons
Weight approx. 1.3 kg [45.86 oz] Baud rate 10 ... 1000 kbit/s
software configurable
Protection acc. to EN 60529 IP67
Node address 1 ... 127
Working temperature range -40°C ... +60°C [-40 ... +140°F]
software configurable
Material shaft stainless steel Switchable termination software configurable
flange / housing seawater durable Al,
type AlSiMgMn (EN AW-6082)
cable PUR
2
Shock resistance acc. to. EN 60068-2-27 2500 m/s , 6 ms
2
Vibration resistance acc. to EN 60068-2-6 100 m/s , 55 ... 2000 Hz
General information about CANopen CANopen encoder profile DS406 V3.2
The CANopen encoders support the latest CANopen communication profile ac- The following parameters can be programmed:
cording to DS301 V4.02. • Event mode.
In addition, device-specific profiles like the encoder profile DS406 V3.2 are • Units for speed selectable (steps/sec or min ).
-1
available. • Factor for speed calculation (e.g. measuring wheel circumference)
The following operating modes may be selected: Polled Mode, Cyclic Mode, Integration time for speed value of 1...32.
Sync Mode and a High Resolution Sync Protocol. Moreover, scale factors, • 2 work areas with 2 upper and lower limits and the corresponding
preset values, limit switch values and many other additional parameters can output states.
be programmed via the CANbus. When switching the device on, all parameters • Variable PDO mapping of position, speed, acceleration, working
are loaded from an EEPROM, where they were saved previously to protect them area status.
against power-failure. • Extended failure management for position sensing with integrated
temperature control.
As output values position, speed, acceleration as well as the working area • User interface with visual display of bus and failure status - 3 LED’s.
status may be combined freely as PDO (PDO mapping)
• Optional - 32 CAMs programmable.
• Customer-specific memory - 16 Bytes.
CANopen communication profile DS301 V4.02
Among others, the following functionality is integrated: Universal scaling function
Class C2 functionality At the end of the physical resolution of an encoder, when scaling is active, an
• NMT slave. error appears if the division of the physical limit (GP_U) by the programmed total
• Heartbeat protocol. resolution (TMR) does not produce an integer.
• High resolution sync protocol. The universal scaling function remedies this problem.
• Identity object.
• Error behaviour object.
• Variable PDO mapping self-start programmable (power on to operational),
3 Sending PDO’s.
• Node address, baud rate and CANbus programmable termination.
© Fritz Kübler GmbH, subject to errors and changes. 02/2015 www.kuebler.com 363
