Model SA36H Single Turn Absolute
Model SA36H Single Turn Absolute Features • • • • •
Standard Size 36 mm Package (1.42") Durable Magnetic Technology Up to 14 Bits of Single Turn Resolution SSI and CANopen Communications Flex Mount Eliminates Couplings and is Ideal for Motors or Shafts
The Model SA36H Single Turn 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, rugged magnetic technology and high sealing make the Model SA36H an excellent choice for all applications, especially ones with a high presence of noise. Available with a 1/4" or 6 mm hollow bore and a wide selection of flexible mounting options, the Model SA36H 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 SA36H Ordering Guide For Multiturn applications see Model MA36H Blue type indicates price adder options. Not all configuration combinations may be available. Contact Customer Service for details.
Mechanical
01
SA36H MODEL SA36H Hollow Bore
SF
Electrical
12 RESOLUTION 12 Bit (CANopen) 08 to 14 Bit (SSI)
BORE SIZE 01 1/4", 0.250" 04 6 mm MOUNTING SF 1.812" (46 mm) Slotted Flex-Mount SD 1.575" (40 mm) Slotted Flex Mount SW 1.653" (42 mm) Slotted Flex-Mount
V3
P1
A
C1
COMM PROTOCOL P1 CANopen P2 SSI
EMJ
SOFTWARE REV A Revison A
OUTPUT CODE C1 Binary C2 Gray2 Input Voltage 05 5 VDC2 V3 10 to 30 VDC
Galvanic Isolation No G1 Yes2
CONNECTOR TYPE 1 EMJ 5-pin M12 End Mount EMK 8-pin M12 End Mount2 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 SA36H Single Turn Absolute
Model SA36HSpecifications 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 SA36H 1.812" (46 mm) Slotted Flex Mount (SF)
5 VDC SSI Only Input Current..............50 mA max with no external load Power Consumption.. 0.5 W max Resolution..................12 bit (CAN) 8 to 14 bit (SSI) Accuracy....................Less than .15° (CANopen) Less than .35° (SSI) Specifications:
www.wachendorff-automation.com/wdga
Vibration: (DIN EN 60068-2-6)
50 m/s2 (10-2000 Hz)
CANopen Interface Mechanical Data Wachendorff Automation & Co. KG Shock: 1000 m/s2 (6 GmbH ms) Housing: ferrous chrome-plated, (DIN EN 60068-2-27) ,QGXVWULHVWUD¡HŘ'*HLVHQKHLP Protocol.................. CANopen: magnetic screening Design: appropriate DIN VDE 0160 Tel.: +49 (0) 7 22/ Ř)D[ 9 (0) 7 22/ 99 -Shaft/ Communication profile CiAstainless 301 steel, not magnetic hollow bore (blind): (0DLO ZGJ#ZDFKHQGRUIIGHŘZZZZDFKHQGRUIIDXWRPDWLRQFRP -Flange: Device profile for encoderAluminium CiA 406 Interface CAN Bearing type:C2 2 precision ball bearings Protocol: CANopen V3.2 class Communication profil CiA 301 ® Node Number........ 0Shaft to 127 (default 127) Encoder WDGA with EnDra encoder: WDGAabsolute 36A WDGA 58ASSI WDGAmagnetic 58B - Device Profile for encoder Model SA36H Optional Flex Mounts Baud Rate.............. 10 Kbaud to 1 Mbaud with automatic bit Flange: synchro synchro clamping CiA 406 V3.2 class C2 Shaftdetection Ø: 6 mm 6 mm 10 mm rate ® Length: 11.5 mm 12 mm 20 mm number: 0 up1.653" to 127 (default Ř (Q'UD PXOWLWXUQWHFKQRORJ\ 1.575" (40Node mm): SD (42127) mm): SW The standard settings as well as any customization in the Operating speed max.: 12,000 rpm 8,000 rpm 8,000 rpm Baud rate: PDLQWHQDQFHIUHHDQGHQYLURQPHQWDOO\IULHQGO\ 10 kBaud up to 1 MBaud software can be changed via LSS (CiA 305) and the SDO Permissible shaft loading: with automatic bit rate detection Ř 66,JUD\RUELQDU\ protocol, e.g. PDOs,max. scaling, rate, 125 N Fr heartbeat, node-ID, 80baud N 220 N Ř 6LQJOHPXOWLWXUQ ELt /ELW The standard settings as well as any customization in the software can etc max. Fa 50 N 70 N 120 N Ř )RUZDUGORRNLQJWHFKQRORJ\ZLWKELWSURFHVVRU Starting torque:
< 0,3 Ncm
ambient temperature) Programmable CAN (at Transmission Modes Service life: Synchronous.......... When a synchronisation telegram at 100 % rated shaft load 1 x 109 revs. (SYNC) received from another 10 revs. at 40 % is rated shaft load 1 x 10bus node, PDOs transmitted at 20 % ratedare shaft load 1indepenx 1011 revs. dantly Hollow shaft encoder: WDGA 36E Asynchronous........ AFlange: PDO message is triggeredhollow by anbore Specifications: internal measured Shaft Ø:event (e.g. change of 6 mm Insertion depthtimer, min./max.: Mechanical Data etc.) 8 mm /17 mm value, internal
< 1 Ncm
< 1 Ncm
Ř +LJKVKDIWORDGXSWR1UDGLDO1D[LDO
1 x 109 revs. 1 x 109 revs. 1 x 1010 revs.1 x 1010 revs. 1 x 1011 revs.1 x 1011 revs.
Operating speed max.: 12,000 rpm +RXVLQJ VWHHOFDVHFKURPHSODWHG Permissible shaft loading: PDJQHWLFVKLHOGLQJ max. F 80 N r 6KDIWKROORZERUH EOLQG VWDLQOHVVVWHHO
SSI Interface Clock Input............. via opto max. Fa coupler 50 N$OXPLQLXP )ODQJH Clock Frequency.... 100KHz to 500KHz Starting torque: < 0,3SUHFLVLRQEDOOEHDULQJV Ncm %HDULQJW\SH (at ambient temperature) Data Output........... RS485 / RS422 compatable Service life: Output Code.......... Gray or binary 6KDIWHQFRGHU WDGA 36A WDGA 58A at 100 % rated shaft load 1,4 x 108 revs. )ODQJH V\QFKUR V\QFKUR SSI Output............. Angular position value at 40 % rated shaft load 2,0 x 109 revs. 6KDIW PP PP Parity Bit................. Optional (even/odd) at 20 % rated shaft load 1,7 x 1010 revs. /HQJWKRIVKDIW PP PP Error Bit.................. Optional 2SHUDWLQJVSHHGPD[ USP USP Sensor Turn On Time.........
Standard Size 36 mm Package (1.42") Durable Magnetic Technology Up to 14 Bits of Single Turn Resolution SSI and CANopen Communications Flex Mount Eliminates Couplings and is Ideal for Motors or Shafts
The Model SA36H Single Turn 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, rugged magnetic technology and high sealing make the Model SA36H an excellent choice for all applications, especially ones with a high presence of noise. Available with a 1/4" or 6 mm hollow bore and a wide selection of flexible mounting options, the Model SA36H 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 SA36H Ordering Guide For Multiturn applications see Model MA36H Blue type indicates price adder options. Not all configuration combinations may be available. Contact Customer Service for details.
Mechanical
01
SA36H MODEL SA36H Hollow Bore
SF
Electrical
12 RESOLUTION 12 Bit (CANopen) 08 to 14 Bit (SSI)
BORE SIZE 01 1/4", 0.250" 04 6 mm MOUNTING SF 1.812" (46 mm) Slotted Flex-Mount SD 1.575" (40 mm) Slotted Flex Mount SW 1.653" (42 mm) Slotted Flex-Mount
V3
P1
A
C1
COMM PROTOCOL P1 CANopen P2 SSI
EMJ
SOFTWARE REV A Revison A
OUTPUT CODE C1 Binary C2 Gray2 Input Voltage 05 5 VDC2 V3 10 to 30 VDC
Galvanic Isolation No G1 Yes2
CONNECTOR TYPE 1 EMJ 5-pin M12 End Mount EMK 8-pin M12 End Mount2 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 SA36H Single Turn Absolute
Model SA36HSpecifications 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 SA36H 1.812" (46 mm) Slotted Flex Mount (SF)
5 VDC SSI Only Input Current..............50 mA max with no external load Power Consumption.. 0.5 W max Resolution..................12 bit (CAN) 8 to 14 bit (SSI) Accuracy....................Less than .15° (CANopen) Less than .35° (SSI) Specifications:
www.wachendorff-automation.com/wdga
Vibration: (DIN EN 60068-2-6)
50 m/s2 (10-2000 Hz)
CANopen Interface Mechanical Data Wachendorff Automation & Co. KG Shock: 1000 m/s2 (6 GmbH ms) Housing: ferrous chrome-plated, (DIN EN 60068-2-27) ,QGXVWULHVWUD¡HŘ'*HLVHQKHLP Protocol.................. CANopen: magnetic screening Design: appropriate DIN VDE 0160 Tel.: +49 (0) 7 22/ Ř)D[ 9 (0) 7 22/ 99 -Shaft/ Communication profile CiAstainless 301 steel, not magnetic hollow bore (blind): (0DLO ZGJ#ZDFKHQGRUIIGHŘZZZZDFKHQGRUIIDXWRPDWLRQFRP -Flange: Device profile for encoderAluminium CiA 406 Interface CAN Bearing type:C2 2 precision ball bearings Protocol: CANopen V3.2 class Communication profil CiA 301 ® Node Number........ 0Shaft to 127 (default 127) Encoder WDGA with EnDra encoder: WDGAabsolute 36A WDGA 58ASSI WDGAmagnetic 58B - Device Profile for encoder Model SA36H Optional Flex Mounts Baud Rate.............. 10 Kbaud to 1 Mbaud with automatic bit Flange: synchro synchro clamping CiA 406 V3.2 class C2 Shaftdetection Ø: 6 mm 6 mm 10 mm rate ® Length: 11.5 mm 12 mm 20 mm number: 0 up1.653" to 127 (default Ř (Q'UD PXOWLWXUQWHFKQRORJ\ 1.575" (40Node mm): SD (42127) mm): SW The standard settings as well as any customization in the Operating speed max.: 12,000 rpm 8,000 rpm 8,000 rpm Baud rate: PDLQWHQDQFHIUHHDQGHQYLURQPHQWDOO\IULHQGO\ 10 kBaud up to 1 MBaud software can be changed via LSS (CiA 305) and the SDO Permissible shaft loading: with automatic bit rate detection Ř 66,JUD\RUELQDU\ protocol, e.g. PDOs,max. scaling, rate, 125 N Fr heartbeat, node-ID, 80baud N 220 N Ř 6LQJOHPXOWLWXUQ ELt /ELW The standard settings as well as any customization in the software can etc max. Fa 50 N 70 N 120 N Ř )RUZDUGORRNLQJWHFKQRORJ\ZLWKELWSURFHVVRU Starting torque:
< 0,3 Ncm
ambient temperature) Programmable CAN (at Transmission Modes Service life: Synchronous.......... When a synchronisation telegram at 100 % rated shaft load 1 x 109 revs. (SYNC) received from another 10 revs. at 40 % is rated shaft load 1 x 10bus node, PDOs transmitted at 20 % ratedare shaft load 1indepenx 1011 revs. dantly Hollow shaft encoder: WDGA 36E Asynchronous........ AFlange: PDO message is triggeredhollow by anbore Specifications: internal measured Shaft Ø:event (e.g. change of 6 mm Insertion depthtimer, min./max.: Mechanical Data etc.) 8 mm /17 mm value, internal
< 1 Ncm
< 1 Ncm
Ř +LJKVKDIWORDGXSWR1UDGLDO1D[LDO
1 x 109 revs. 1 x 109 revs. 1 x 1010 revs.1 x 1010 revs. 1 x 1011 revs.1 x 1011 revs.
Operating speed max.: 12,000 rpm +RXVLQJ VWHHOFDVHFKURPHSODWHG Permissible shaft loading: PDJQHWLFVKLHOGLQJ max. F 80 N r 6KDIWKROORZERUH EOLQG VWDLQOHVVVWHHO
SSI Interface Clock Input............. via opto max. Fa coupler 50 N$OXPLQLXP )ODQJH Clock Frequency.... 100KHz to 500KHz Starting torque: < 0,3SUHFLVLRQEDOOEHDULQJV Ncm %HDULQJW\SH (at ambient temperature) Data Output........... RS485 / RS422 compatable Service life: Output Code.......... Gray or binary 6KDIWHQFRGHU WDGA 36A WDGA 58A at 100 % rated shaft load 1,4 x 108 revs. )ODQJH V\QFKUR V\QFKUR SSI Output............. Angular position value at 40 % rated shaft load 2,0 x 109 revs. 6KDIW PP PP Parity Bit................. Optional (even/odd) at 20 % rated shaft load 1,7 x 1010 revs. /HQJWKRIVKDIW PP PP Error Bit.................. Optional 2SHUDWLQJVSHHGPD[ USP USP Sensor Turn On Time.........
