magnetic absolute rotary encoder gel 235 - control in ...doc/lb_235-ds.pdf · magnetic absolute...

Magnetic absolute rotary encoderGEL 235SSI, Sin/Cos, CANopen, PROFIBUS DP

Technical Information Version 09.08

Unique Nonius-evalutionMeasuring principle:magnetic, high resolutionEvaluation:Nonius-principleMeasuring scale:metallic code disc

FeaturesSingleturnMultiturn with mechanical gearHigh resolution 28 bitHigh accuracy ± 0,1°SSI up to 2 MHzSSI-P (SSI-progammable) by use of Parameter-KitCANopen DS 406, PROFIBUS DPSin/Cos differential signal with1 VPPAxial / radial connector or cable exitDew-point-proofProtection class up to IP 67

MOTOR TECHNOLOGY LTD MOTEC HOUSE, CHADKIRK BUSINESS PARK, STOCKPORT, CHESHIRE SK6 3NE ENGLAND

TEL: +44 (0)161 217 7100 FAX: +44 (0)161 217 7101 eMAIL: info @ controlinmotion.com WEB: www.controlinmotion.com

http://www.lenord.de

mailto:[email protected]

General informationen

2 Lenord+Bauer DS22-235(09.08)

General

The absolute rotary encoder series GEL 235 delivers foreach angular position a unique position value via a digitalinterface with a resolution up to 28 bit. The absolute rotaryencoder series includes Singleturn (ST) with up to 16 bit andMultiturn (MT) with 12 bit resolution via a mechanical gear.

Compact design

With a standard flange size of 58 mm the housing length forST and MT with mechanical gear is less than 50 mm.

Robuste construction

Resilient anodised aluminium housing, double-bearingsThe 12 mm steel encoder shaft and the steel code discform a single robust unitThe temperature coefficient of all rotating parts is uniformWithstands high shock and vibration levels and high ac-celeration rates

Nonius-Algorithm (Vernier-Algorithm)

The measurement principle of the GEL 235 is based on themagnetic scanning of a code disc made of ferro-magneticsteel, the so called nonius-disc. Magneto-Resistive sensorsscan three tracks and deliver three corresponding sinusoidalsignals. The phase relation of those three sinusoidal signalsis unique with one revolution. Based of the Nonius-principlethis phase relation is evaluated and delivers with high reso-lution and accuracy the absolute position.

Magnetic measuring principle

The magneto-resistive scanning of a ferro-magnetic steel-disc offers significant advantages:

suitable for all standard application and furthermore forReal-Heavy-Duty usewithstands high shock / vibration levelnot influenced by dirt or oil mistlong term stable temperature characteristicsfull functionality in the presence of condensation:dew-point-proofno aging of the magnetic sensor elementswithstand aggressive media

Interface

The absolute rotary encoder supplies the position values ina binary or gray code by use of a fast SSI-interface. In ad-dition high interpolateable Sin/Cos differential signals with1 Vpp are delivered. The programming of code, resolution,counting direction and Preset values is optionally possible.With 28 bit resolution and a high data rate up to 2 MHz forSSI mode even highly dynamic motion processes are wellcontrolable. A connectable bus-cap enables the profilesCANopen DS 406 and PROFIBUS DP ENCODER PROFILV1.1. Integrated rotary selectors for the encoder ID and datarate, a switchable on terminal resistor and diagnostic LEDssupports a fast startup.

Technical data

DS22-235(09.08) Lenord+Bauer 3

GeneralIncremental deviation < 0.01°Repeatability < 0.01°Accurary ± 0.1° (> 11 Bit)Electrical dataOperating voltage 10 to 30 V DC with reverse voltage protection

(option: 5 V - 5%, +25%)Power consumption < 1.6 W, without loadResolution Singleturn (ST) 8, 9, 10 to 16 Bit (measuring steps over 360°)Resolution Multiturn (MT) 4, 8, 12 Bit (revolution, mechanical gear)Interface SSI, PROFIBUS Encoder Profile V 1.1, CANopen Encoder

Profile DS406Sin/Cos analogue signal Sin/Cos difference signal 1 VPP, 64 periods per resolutionMechanical dataHousing diameter, housing length 58 mm, 46.5 mmClamping flange Distance contact point : 5 mm

Shaft load (radial/axial) at 1,000 min-1 = 160 N / 80 N,at 6,000 min-1 = 100 N / 80 N

Synchro flange Distance contact point: 10 mmShaft load (radial/axial)at 1,000 min-1 = 70 N / 50 N,at 6,000 min-1 = 50 N / 40 N

Semi hollow shaft Distance contact point: 1 mmShaft load (radial/axial) at 1,000 min-1 = 100 N / 20 N,at 6,000 min-1 = 40 N / 20 N

Material anodised aluminiumWeight Singleturn 300 gWeight Multiturn 310 gOperating speed (limit value) Singleturn 12,000 min-1

Operating speed (limit value) Multiturn 10,000 min-1, 12,000 min-1(short time)Shaft sealing ring (optional) Protection class: IP 67, Material: Viton,

reduced operating speed (max. 6,000 min-1)Cable (optional) halogen-free PUR (6 x 2 AWG, shielded)Operating speed < 3 NcmAmbient dataProtection class IP 64, IP 67 (optional)Shock protection (IEC 68, 2-27) 2000 m/s2, 11 msVibration protection (IEC 68, 2-6) 200 m/s2, 10 to 2,000 HzWorking temperature range -40 °C to 100 °COperating temperature range -40 °C to 105 °C (120 °C short time)Storage temperature range -40 °C to 85 °CRelative humidity of air max. 100 %Condensation permissibleEMC EN 61000-6-1 to -4Insulation strength Ri > 1 MΩ at 500 V AC

Dimensioned drawingbasic encoder GEL 235


Pin layout SSI, Sin/Cos


Connector- or cable outlet

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Connector- or cable layout

PRESET adjustment SSI, SSI-P

At any given rotary position the output signals can be set topreset values. As default the singleturn is to set 2n-1and themultiturn is set to half of its maximum value. The preset canbe set electrically by applying Vs to the Preset line for t > 100ms (do not apply permanently). Alternatively, a preset push-button is optionally available, recessed in the encoder base(IP 67). This is to be pushed with a blunt pin for t > 100 ms.By using the optional parameter kit, the preset values canbe freely defined.

01223

Counting direction

With view on the encoder shaft the position value increasesby rotating the shaft clockwise (CW) (default setting). By ap-plying VS permanently to the CW/CCW line the positionvalue will increase when rotating the shaft counter-clock-wise.CCW = increasing position values while turning the

encoder shaft clockwise

CW = increasing position values while turning theencoder shaft counter-clockwise

SSI / SSI-P


Using SSI protocol the allowed data rates are reduced as thecable length increases. It is recommended that the wires of± Clock and ± Data are each in twisted pair configurationeach while the cable is shielded.

Cable length

Using SSI protocol the allowed data rates are reduced as thecable length increases. It is recommended that the wires of± Clock and ± Data are each in twisted pair configurationeach while the cable is shielded.

cable length / m clock rate / kHz< 50 < 400< 100 < 300< 200 < 200< 400 < 100

Sin/Cos differential signal

For realtime control high interpolateable Sin/Cos differentialsignals 1 Vpp are supported.

Temperature range

The storage temperature of -40°C up to 85°C is restricted bythe packaging material. A working temperature range from-40°C up to 100°C is permissible, in which a mountedencoder is not allowed to exceed this temperature range.Within the allowed working temperature range the function-ality of the absolute rotary encoder is assured (DIN 32878),specifically when the temperature is measured at the en-coder housing.The encoder temperature is affected by the installationconditions (thermal conduction, thermal radiation), the self-heating (bearing friction, electrical power dissipation) andthe environmental temperature.Depending on the operating conditions of the encoder, theworking temperature of the encoder can be higher than theenvironmental temperature.Depending on the power supply from 5 V DC to 30 V DC aself-heating of up to 10°C can occur. At high rotation speeds> 5000 min-1a self-heating caused by bearing friction of upto 20°C is possible. If the encoder is operated close to itsmaximum permissible specifications several parameterscan affect encoder self-heating. In this case the environ-mental temperature has to be reduced by suitable methods(cooling) to ensure that the maximum permissible workingtemperature is not exceeded.

Technical data SSIOutput code binary, grayTransmission Max. 1,200 m depending on transmission rateThe immunity to interference high immunity to interference via symmetrical transmissionDirection of rotation adjustable, standard clockwise (CW) with view on the en-

coder shaft, increasing position valuesPreset about input level, software optional with pushbuttonSSI-P (SSI-programmable) option: software and hardware (parameter kit)

PROFIBUS DP


Technical data PROFIBUS DPInterface PROFIBUS DP, Encoder Profile V 1.1Supply voltage 10 to 30 V DCCable diameter 8 mmConnection Via bus cap as T-Connector, alternatively cable gland or

M12 plug, diagnostics LED, I/O DC-isolated (inductivecoupling)

Programmable function Resolution, Preset, offset, counting direction, speed output,acceleration output, output of work areas relative todetermined values, scalable step number (decimal/binary),multiplier for measuring of lengths auto-recover-to-bus

Output code BinaryData rate 9,6 kBit/s up to 12 Mbit/s adjustable via bus masterSensor-ID 1 to 125 adjustable via rotary selectorTerminal resistor Switchable via bus cap (both DIP-Switchers at ON)Operating temperature -40 °C to 85 °C (for short time 100°C)

CANopen


Technical data CANopenInterface CANopen DS 406 with additional functionSupply voltage 10 to 30 V DCCable diameter 8 mmConnection Via bus cap as T-Connector, alternatively cable gland or

M12 plug, diagnostics LED, I/O DC-isolated (inductive cou-pling)

Programmable function Resolution, Preset, offset, counting direction, speed output,acceleration output, output of work areas relative to deter-mined values, scalable step number (decimal/binary), mul-tiplier for measuring of lengths auto-recover-to-bus

Output code binaryData rate 50 kBit/s to 1 Mbit/s adjustable via rotary selector or bus

masterSensor-ID 0 to 99 adjustable via rotary selector or bus masterTerminal resistor Switchable via bus cap (both DIP-switches at ON)Operating temperature -40 °C to 85 °C (short time 100 °C)

Accessories GEL 235


Accessories


Parameter Kit for SSI-P

The SSI-P interface offers the possibility to program several sensor parameters. To make use of this possibility, aParameter-Kit PK23501 for the GEL 235SP is necessary. It comprises a parameterization software and a USB adapter andenables the programming of ST-/MT-resolution, code, counting direction and the ST-/MT-Preset values.

The Software works with WIN2000 and XP. The connection to the computer is realized via a USB adapter which alsosupplies the power for the GEL 235SP. Necessary cables are included in the scope of delivery. The Sin/Cos differentialsignals are available on a separate connector.

Type code for GEL-235-specific/mounting material

Part number Description Spezification

PK23501 Parameter-Kit: software, hardware, connection cable(only for GEL 235 SSI-P

Parameterization software for GEL 235, interface cardand connection cable to GEL 235 SP to GEL 235SPand PC via USB

FB23501 Clamping element, 4 mm as per drawingFB23502 Clamping element, 6 mm as per drawingFB23503 Spring plate, short as per drawingFB23506 Spring plate as per drawingFB23504 Torque support, hard as per drawingFB23505 Torque support, soft as per drawingRH23501 Bushing, 8 mm as per drawingRH23502 Bushing, 10 mm as per drawingRH23503 Bushing, 12 mm as per drawingMF23501 Mounting flange as per drawingMF23502 Mounting flange as per drawingGG126 12-pol. counter-connector for SSI

For further accessories please look at our technical information for the encoder accessories program.

Type code GEL 235


InterfaceSG SSI GraySB SSI binarySP SSI programmableCO CANopen DS 406DP PROFIBUS DP

Resolution singleturn08 8 bit, 256 steps/revolution09 9 bit, 512 steps/revolution10 10 bit, 1024 steps/revolution11 11 bit, 2048 steps/revolution12 12 bit, 4096 steps/revolution13 13 bit, 8192 steps/revolution14 14 bit, 16384 steps/revolution15 15 bit, 32768 steps/revolution16 16 Bit, 65536 steps/revolution

Revolutions multiturn00 only singleturn (ST)04 04 bit, 16 revolutions08 08 bit, 256 revolutions12 12 bit, 4096 revolutions

Flange, ShaftA clamping flange, D = 6 / L = 10 mmB clamping flange, D = 10 / L = 20 mmC synchro flange, D = 6 / L = 10 mmD synchro flange, D = 10 / L = 20 mmE semi hollow shaft, D = 15 / T 25 mmF clamping flange, D = 12 / L = 20 mmY customized flange/shaft

Outlet, positionA cable cap axialflex®, axial (only SSI)B cable gland, axial (only SSi)C cable gland, radial (only SSI)D 12-pole connector outlet, Typ M 23, axial (only SSI)E 12-pole connector outlet, Typ M 23, radial (only SSI)K CANopen, bus cap with cable gland (only CO)L CANopen, bus cap with connector outlet (only CO)Q PROFIBUS DP, bus cap with cable gland (only DP)P PROFIBUS-DP, bus cap with connector outlet (only DP)Y customized interface

Cable lengthS connector outlet / without cableB 1 meterC 3 meterD 5 meterE 10 meterF 25 meterG 50 meterY customized length

Protection class, pushbutton1 protection class IP 642 protection class IP 64, Preset-pushbutton3 protection class IP 674 protection class IP 67, Preset-pushbutton

235 _ _ _ _ _ _ _ _ _ _

Lenord, Bauer & Co. GmbHDohlenstraße 3246145 Oberhausen, DeutschlandPhone:Fax:

+49 208 9963–0+49 208 676292

Internet: www.lenord.deE-Mail: [email protected]

Right to technical changes and errors reserved.For the latest version please visit our web site : www.lenord.de .


MOTOR TECHNOLOGY LTD MOTEC HOUSE, CHADKIRK BUSINESS PARK, STOCKPORT, CHESHIRE SK6 3NE ENGLAND

TEL: +44 (0)161 217 7100 FAX: +44 (0)161 217 7101 eMAIL: info @ controlinmotion.com WEB: www.controlinmotion.com


mailto:[email protected]


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