Model MA36S Multiturn Absolute
Model MA36S Multiturn Absolute Features • • • • •
Standard Size 36 mm Package (1.42") Durable Magnetic Technology Multiturn Absolute Encoder (12 Bit/40 Bit) SSI and CANopen Communications Proven New Turns Counting Technology - No Gears or Batteries
The Model MA36S Multiturn Absolute Accu-Coder™ is ideal for a wide variety of industrial applications that require an encoder with the capability of absolute positioning output. Its fully digital output and innovative use of battery-free multiturn technology make the Model MA36S an excellent choice for all applications, especially ones with a high presence of noise. Its durable magnetic technology and high sealing make it a perfect choice for dirty industrial environments. Available with a 6 mm or 1/4" shaft and a servo mount, the Model MA36S is easily designed into a variety of applications.
Ø36 mm Common Applications
Robotics, Telescopes, Antennas, Medical Scanners, Windmills, Elevators, Lifts, Motors, Automatic Guided Vehicles, Rotary and X/Y Positioning Tables
Model MA36S Ordering Guide For Single Turn applications see Model SA36S Blue type indicates price adder options. Not all configuration combinations may be available. Contact Customer Service for details.
Mechanical
MA36S
19
MODEL MA36S Solid Shaft SHAFT SIZE 19 1/4", 0.250" 20 6 mm
Electrical
MB
12
10
V3
Input Voltage 05 5 VDC2 V3 10 to 30 VDC Multiturn resolution 18 18 Bit (CANopen) 40 40 Bit (CANopen) 01 to 40 Bit (SSI Only) Price adder for Bit > 18
A
C1
COMM PROTOCOL P1 CANopen P2 SSI
SINGLE TURN RESOLUTION 12 Bit (CANopen) 08 to 14 Bit (SSI)
MOUNTING MB 36 mm Servo Mount
P2
EMJ
SOFTWARE REV A Revison A
OUTPUT CODE C1 Binary C2 Gray2
Galvanic Isolation No 2 G1 Yes
CONNECTOR TYPE 1 EMJ 5-pin M12 End Mount 2 EMK 8-pin M12 End Mount EC6 6 Ft End Mount Cable with Gland Nut2 SC6 6 Ft Side Mount Cable with Grommet2
For specification assistance call Customer Service at 1-800-366-5412 Notes: 1 Available with CANopen only 2 Available with SSI only
4
1-800-366-5412 • www.encoder.com • [email protected]
June 2011
Wachendorff Automation GmbH & Co. KG Industriestraße 7 • D-65366 Geisenheim Tel.: +49 (0) 67 22 / 99 65 -25 • Fax: +49 (0) 67 22 / 99 65 -70 E-Mail: [email protected] • www.wachendorff-automation.com
Encoder WDGA absolute CANopen magnetic, EnDra®
Model MA36S Multiturn Absolute Model MA36SSpecifications Electrical Input Voltage............ 10 to 30 VDC max SSI or CAN
EnDra®: maintenance-free and environmentally friendly CANopen, Single- and Multiturn Communication Profile according to CiA 301 Device Profile for encoder CiA 406 V3.2 class C2 Single-/Multiturn (12 Bit / 40 Bit) Forward-looking technology with 32 Bit processor 2-colour-LED as indicator for operating condition and error message appropriate CiA 303-3 • High shaft load up to 220 N radial, 120 N axial • • • • • • •
Model MA36S Solid Shaft
5 VDC SSI Only Input Current..............50 mA max with no external load Power Consumption.. 0.5 W max Resolution (Single)....12 bit (CAN) Specifications: 8 to 14 bit (SSI) Mechanical Data (CANopen or SSI) Resolution (Multi)......Up to 40 bit multiturn Housing: Accuracy....................Less than .15° (CANopen) ferrous chrome-plated, magnetic screening Less .35°bore (SSI)(blind): stainless steel, not magnetic Shaft/than hollow Flange:
Aluminium
at 20 % rated shaft load
1 x 1011 revs. 1 x 1011 revs.1 x 1011 revs.
www.wachendorff-automation.com/wdga
Vibration: 50 m/s2 (10-2000 Hz) (DIN EN 60068-2-6) Wachendorff Automation & Co. KG Shock: 1000 m/s2 (6 GmbH ms) (DIN EN 60068-2-27) ,QGXVWULHVWUD¡HŘ'*HLVHQKHLP Design: appropriate DIN VDE 0160 (0) 7 22/ 99 Tel.: +49 (0) 7 22/ Ř)D[ 9 Interface
(0DLO ZGJ#ZDFKHQGRUIIGHŘZZZZDFKHQGRUIIDXWRPDWLRQFRP CAN
2 precision ball bearings CANopen Interface Bearing type: Protocol: CANopen - Communication profil CiA 301 Protocol.................. CANopen: ® Encoder WDGA with EnDra Shaft encoder: WDGAabsolute 36A WDGA 58ASSI WDGAmagnetic 58B - Device Profile for encoder -Flange: Communication profile CiA 301 synchro synchro clamping CiA 406 V3.2 class C2 - Device Shaft Ø: profile for encoder6CiA mm406 6 mm 10 mm ® Length: 11.5 mm 12 mm 20 mm Node number: 0 up to 127 (default 127) Ř (Q'UD PXOWLWXUQWHFKQRORJ\ V3.2 class C2 Operating speed max.: 12,000 rpm 8,000 rpm 8,000 rpm Baud rate: PDLQWHQDQFHIUHHDQGHQYLURQPHQWDOO\IULHQGO\ 10 kBaud up to 1 MBaud Node Number........ 0Permissible to 127 (default 127) shaft loading: with automatic bit rate detection Ř 66,JUD\RUELQDU\ Baud Rate.............. 10 Kbaud bit 125 N max. Fr to 1 Mbaud with automatic 80 N 220 N Ř 6LQJOHPXOWLWXUQ ELt /ELW The standard settings as well as any customization in the software can rate max.detection Fa 50 N 70 N 120 N )RUZDUGORRNLQJWHFKQRORJ\ZLWKELWSURFHVVRU be changedŘvia LSS (CiA 305) and the SDO protocol, e. g. PDOs, The standard settings as well as any customization the < 1 Ncm Starting torque: < 0,3 in Ncm < 1 Ncm Ř FRORXU/('DVLQGLFDWRUIRURSHUDWLQJFRQGLWLRQ Scaleing, Heartbeat, Node-ID, Baud rate, etc. (at ambient temperature) software can be changed via LSS (CiA 305) and the SDO Ř +LJKVKDIWORDGXSWR1UDGLDO1D[LDO Service life: protocol, e.g. PDOs, scaling, heartbeat, node-ID, baud rate, Programmable CAN transmission modes at 100 % rated shaft load 1 x 109 revs. 1 x 109 revs. 1 x 109 revs. www.wachendorff-automation.com/wdgassi • Sychronous mode: when a synchronisation telegram (SYNC) etc at 40 % rated shaft load 1 x 1010 revs. 1 x 1010 revs.1 x 1010 revs.
Programmable CAN Transmission Modes Hollow shaft encoder: WDGA 36E Synchronous.......... When a synchronisation telegram Specifications: Flange: hollow bore (SYNC) is received from another Shaft Ø: 6 mm bus Insertion depth mm /17 mm Mechanical Data node, PDOs aremin./max.: transmitted8 indepenOperating speed max.: 12,000 rpm +RXVLQJ VWHHOFDVHFKURPHSODWHG dantly Permissible shaft loading: PDO message is triggered byPDJQHWLFVKLHOGLQJ Asynchronous........ Amax. an F 80 N r 6KDIWKROORZERUH EOLQG VWDLQOHVVVWHHO internal of measured max. Fa event (e.g. change 50 N$OXPLQLXP )ODQJH value, internal timer, etc.) Starting torque: < 0,3SUHFLVLRQEDOOEHDULQJV Ncm %HDULQJW\SH
is received from another bus node, PDOs are transmitted independently. • Asynchronous mode: a PDO message is triggered by an internal event. (e.g. change of measured valued, internal timer, etc.)
9LEUDWLRQ ',1(1
PV2 +]XSWR+]
Electrical Data: Supply voltage: 6KRFN
10 VDC up to 30 VDC 2 PV PV max. 50 mA ',1(1 Power consumption: max. 0,5 W 'HVLJQ DSSURSULDWH',19'( Wiring Table Electrical connections, axial, M12x1
Interface SSI Definition connector pin Sensor connector CANopen Encoders &ORFNLQSXW YLDRSWRFRXSOHU (connectorpin assignment WDGA 36A WDGA 58A WDGA 58B &ORFNIUHTXHQF\ 1,4 x 108 revs. Function Pin N+]XSWRN+] encoder) 5-pin V\QFKUR V\QFKUR FODPSLQJ 2,0 x 109 revs. XSWR0+]RQUHTXHVW PP PP PP UB +VDC 2 2 5656FRPSDWLEOH 1,7 x 1010 revs. 'DWDRXWSXW /HQJWKRIVKDIW PP PPGround (GND) 3 Data Output........... RS485 / RS422 compatable PP 2XWSXWFRGH JUD\RUELQDU\ (GND) 3 2SHUDWLQJVSHHGPD[ USP USP USP Ground Sensor Output Code.......... Gray or data binary 4 $QJXODU/SRVLWLRQYDOXH CANHigh 66,RXWSXW 3HUPLVVLEOHVKDIWORDGLQJ Singleturn technology: innovative hall sensor technology CAN 3DULW\ELW 4 5 RSWLRQDO HYHQRGG SSI Output............. Angular position value CANLow High Singleturn 4.096 steps/360° (121 Bit) PD[)r resolution: 1 1 (UURUELW RSWLRQDO Parity Bit................. Optional Singleturn precision:
Standard Size 36 mm Package (1.42") Durable Magnetic Technology Multiturn Absolute Encoder (12 Bit/40 Bit) SSI and CANopen Communications Proven New Turns Counting Technology - No Gears or Batteries
The Model MA36S Multiturn Absolute Accu-Coder™ is ideal for a wide variety of industrial applications that require an encoder with the capability of absolute positioning output. Its fully digital output and innovative use of battery-free multiturn technology make the Model MA36S an excellent choice for all applications, especially ones with a high presence of noise. Its durable magnetic technology and high sealing make it a perfect choice for dirty industrial environments. Available with a 6 mm or 1/4" shaft and a servo mount, the Model MA36S is easily designed into a variety of applications.
Ø36 mm Common Applications
Robotics, Telescopes, Antennas, Medical Scanners, Windmills, Elevators, Lifts, Motors, Automatic Guided Vehicles, Rotary and X/Y Positioning Tables
Model MA36S Ordering Guide For Single Turn applications see Model SA36S Blue type indicates price adder options. Not all configuration combinations may be available. Contact Customer Service for details.
Mechanical
MA36S
19
MODEL MA36S Solid Shaft SHAFT SIZE 19 1/4", 0.250" 20 6 mm
Electrical
MB
12
10
V3
Input Voltage 05 5 VDC2 V3 10 to 30 VDC Multiturn resolution 18 18 Bit (CANopen) 40 40 Bit (CANopen) 01 to 40 Bit (SSI Only) Price adder for Bit > 18
A
C1
COMM PROTOCOL P1 CANopen P2 SSI
SINGLE TURN RESOLUTION 12 Bit (CANopen) 08 to 14 Bit (SSI)
MOUNTING MB 36 mm Servo Mount
P2
EMJ
SOFTWARE REV A Revison A
OUTPUT CODE C1 Binary C2 Gray2
Galvanic Isolation No 2 G1 Yes
CONNECTOR TYPE 1 EMJ 5-pin M12 End Mount 2 EMK 8-pin M12 End Mount EC6 6 Ft End Mount Cable with Gland Nut2 SC6 6 Ft Side Mount Cable with Grommet2
For specification assistance call Customer Service at 1-800-366-5412 Notes: 1 Available with CANopen only 2 Available with SSI only
4
1-800-366-5412 • www.encoder.com • [email protected]
June 2011
Wachendorff Automation GmbH & Co. KG Industriestraße 7 • D-65366 Geisenheim Tel.: +49 (0) 67 22 / 99 65 -25 • Fax: +49 (0) 67 22 / 99 65 -70 E-Mail: [email protected] • www.wachendorff-automation.com
Encoder WDGA absolute CANopen magnetic, EnDra®
Model MA36S Multiturn Absolute Model MA36SSpecifications Electrical Input Voltage............ 10 to 30 VDC max SSI or CAN
EnDra®: maintenance-free and environmentally friendly CANopen, Single- and Multiturn Communication Profile according to CiA 301 Device Profile for encoder CiA 406 V3.2 class C2 Single-/Multiturn (12 Bit / 40 Bit) Forward-looking technology with 32 Bit processor 2-colour-LED as indicator for operating condition and error message appropriate CiA 303-3 • High shaft load up to 220 N radial, 120 N axial • • • • • • •
Model MA36S Solid Shaft
5 VDC SSI Only Input Current..............50 mA max with no external load Power Consumption.. 0.5 W max Resolution (Single)....12 bit (CAN) Specifications: 8 to 14 bit (SSI) Mechanical Data (CANopen or SSI) Resolution (Multi)......Up to 40 bit multiturn Housing: Accuracy....................Less than .15° (CANopen) ferrous chrome-plated, magnetic screening Less .35°bore (SSI)(blind): stainless steel, not magnetic Shaft/than hollow Flange:
Aluminium
at 20 % rated shaft load
1 x 1011 revs. 1 x 1011 revs.1 x 1011 revs.
www.wachendorff-automation.com/wdga
Vibration: 50 m/s2 (10-2000 Hz) (DIN EN 60068-2-6) Wachendorff Automation & Co. KG Shock: 1000 m/s2 (6 GmbH ms) (DIN EN 60068-2-27) ,QGXVWULHVWUD¡HŘ'*HLVHQKHLP Design: appropriate DIN VDE 0160 (0) 7 22/ 99 Tel.: +49 (0) 7 22/ Ř)D[ 9 Interface
(0DLO ZGJ#ZDFKHQGRUIIGHŘZZZZDFKHQGRUIIDXWRPDWLRQFRP CAN
2 precision ball bearings CANopen Interface Bearing type: Protocol: CANopen - Communication profil CiA 301 Protocol.................. CANopen: ® Encoder WDGA with EnDra Shaft encoder: WDGAabsolute 36A WDGA 58ASSI WDGAmagnetic 58B - Device Profile for encoder -Flange: Communication profile CiA 301 synchro synchro clamping CiA 406 V3.2 class C2 - Device Shaft Ø: profile for encoder6CiA mm406 6 mm 10 mm ® Length: 11.5 mm 12 mm 20 mm Node number: 0 up to 127 (default 127) Ř (Q'UD PXOWLWXUQWHFKQRORJ\ V3.2 class C2 Operating speed max.: 12,000 rpm 8,000 rpm 8,000 rpm Baud rate: PDLQWHQDQFHIUHHDQGHQYLURQPHQWDOO\IULHQGO\ 10 kBaud up to 1 MBaud Node Number........ 0Permissible to 127 (default 127) shaft loading: with automatic bit rate detection Ř 66,JUD\RUELQDU\ Baud Rate.............. 10 Kbaud bit 125 N max. Fr to 1 Mbaud with automatic 80 N 220 N Ř 6LQJOHPXOWLWXUQ ELt /ELW The standard settings as well as any customization in the software can rate max.detection Fa 50 N 70 N 120 N )RUZDUGORRNLQJWHFKQRORJ\ZLWKELWSURFHVVRU be changedŘvia LSS (CiA 305) and the SDO protocol, e. g. PDOs, The standard settings as well as any customization the < 1 Ncm Starting torque: < 0,3 in Ncm < 1 Ncm Ř FRORXU/('DVLQGLFDWRUIRURSHUDWLQJFRQGLWLRQ Scaleing, Heartbeat, Node-ID, Baud rate, etc. (at ambient temperature) software can be changed via LSS (CiA 305) and the SDO Ř +LJKVKDIWORDGXSWR1UDGLDO1D[LDO Service life: protocol, e.g. PDOs, scaling, heartbeat, node-ID, baud rate, Programmable CAN transmission modes at 100 % rated shaft load 1 x 109 revs. 1 x 109 revs. 1 x 109 revs. www.wachendorff-automation.com/wdgassi • Sychronous mode: when a synchronisation telegram (SYNC) etc at 40 % rated shaft load 1 x 1010 revs. 1 x 1010 revs.1 x 1010 revs.
Programmable CAN Transmission Modes Hollow shaft encoder: WDGA 36E Synchronous.......... When a synchronisation telegram Specifications: Flange: hollow bore (SYNC) is received from another Shaft Ø: 6 mm bus Insertion depth mm /17 mm Mechanical Data node, PDOs aremin./max.: transmitted8 indepenOperating speed max.: 12,000 rpm +RXVLQJ VWHHOFDVHFKURPHSODWHG dantly Permissible shaft loading: PDO message is triggered byPDJQHWLFVKLHOGLQJ Asynchronous........ Amax. an F 80 N r 6KDIWKROORZERUH EOLQG VWDLQOHVVVWHHO internal of measured max. Fa event (e.g. change 50 N$OXPLQLXP )ODQJH value, internal timer, etc.) Starting torque: < 0,3SUHFLVLRQEDOOEHDULQJV Ncm %HDULQJW\SH
is received from another bus node, PDOs are transmitted independently. • Asynchronous mode: a PDO message is triggered by an internal event. (e.g. change of measured valued, internal timer, etc.)
9LEUDWLRQ ',1(1
PV2 +]XSWR+]
Electrical Data: Supply voltage: 6KRFN
10 VDC up to 30 VDC 2 PV PV max. 50 mA ',1(1 Power consumption: max. 0,5 W 'HVLJQ DSSURSULDWH',19'( Wiring Table Electrical connections, axial, M12x1
Interface SSI Definition connector pin Sensor connector CANopen Encoders &ORFNLQSXW YLDRSWRFRXSOHU (connectorpin assignment WDGA 36A WDGA 58A WDGA 58B &ORFNIUHTXHQF\ 1,4 x 108 revs. Function Pin N+]XSWRN+] encoder) 5-pin V\QFKUR V\QFKUR FODPSLQJ 2,0 x 109 revs. XSWR0+]RQUHTXHVW PP PP PP UB +VDC 2 2 5656FRPSDWLEOH 1,7 x 1010 revs. 'DWDRXWSXW /HQJWKRIVKDIW PP PPGround (GND) 3 Data Output........... RS485 / RS422 compatable PP 2XWSXWFRGH JUD\RUELQDU\ (GND) 3 2SHUDWLQJVSHHGPD[ USP USP USP Ground Sensor Output Code.......... Gray or data binary 4 $QJXODU/SRVLWLRQYDOXH CANHigh 66,RXWSXW 3HUPLVVLEOHVKDIWORDGLQJ Singleturn technology: innovative hall sensor technology CAN 3DULW\ELW 4 5 RSWLRQDO HYHQRGG SSI Output............. Angular position value CANLow High Singleturn 4.096 steps/360° (121 Bit) PD[)r resolution: 1 1 (UURUELW RSWLRQDO Parity Bit................. Optional Singleturn precision:
