Model SA36S Single Turn Absolute
Model SA36S Single Turn Absolute Features • • • •
Standard Size 36 mm Package (1.42") Durable Magnetic Technology Up to 14 Bits of Single Turn Resoltuion SSI and CANopen Communications
The Model SA36S 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 SA36S an excellent choice for all applications, especially ones with a high presence of noise. Available with a 6 mm or 1/4" shaft and a servo mount, the Model SA36S 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 SA36S Ordering Guide
For Multiturn applications see Model MA36S
Blue type indicates price adder options. Not all configuration combinations may be available. Contact Customer Service for details.
Mechanical
SA36S
19
MODEL SA36S Solid Shaft
Electrical
MB
12
RESOLUTION 12 Bit (CANopen) 08 to 14 Bit (SSI)
V3
P1
COMM PROTOCOL P1 CANopen P2 SSI
SHAFT SIZE 19 1/4", 0.250" 20 6 mm MOUNTING MB 36 mm Servo Mount
Input Voltage 05 5 VDC2 V3 10 to 30 VDC
A
C1
EMJ
SOFTWARE REV A Revison A
OUTPUT CODE C1 Binary C2 Gray2
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 SA36S Single Turn Absolute Model SA36SSpecifications 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 SA36S Solid Shaft
5 VDC SSI Only Input Current..............50 mA max with no external load Power Consumption.. 0.5 W max Resolution..................12 bit (CAN) Specifications: 8 to 14 bit (SSI) Mechanical Accuracy....................Less than .15°Data (CANopen) Housing: ferrous chrome-plated, Less than .35° (SSI) Shaft/ hollow bore (blind):
magnetic screening stainless steel, not magnetic
at 40 % rated shaft load
1 x 1010 revs. 1 x 1010 revs.1 x 1010 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
(0DLO ZGJ#ZDFKHQGRUIIGHŘZZZZDFKHQGRUIIDXWRPDWLRQFRP CANopen Interface Flange: Aluminium Interface CAN Bearing type: 2 precision ball bearings Protocol: CANopen Protocol.................. CANopen: Communication profil CiA 301 ® -Encoder Communication profile CiA 301 36A WDGA 58ASSI WDGA with EnDra Shaft encoder: WDGAabsolute WDGAmagnetic 58B - Device Profile for encoder -Flange: Device profile for encodersynchro CiA 406 synchro clamping CiA 406 V3.2 class C2 Shaft 6 mm 6 mm 10 mm V3.2Ø:class C2 ® Length: 11.5 mm 12 mm 20 mm Node number: 0 up to 127 (default 127) Ř (Q'UD PXOWLWXUQWHFKQRORJ\ Node Number........ 0 to 127 (default 127) Operating speed max.: 12,000 rpm 8,000 rpm 8,000 rpm Baud rate: PDLQWHQDQFHIUHHDQGHQYLURQPHQWDOO\IULHQGO\ 10 kBaud up to 1 MBaud Baud Rate.............. 10 Kbaud toshaft 1 Mbaud with automatic bit Permissible loading: with automatic bit rate detection Ř 66,JUD\RUELQDU\ rate max.detection Fr 80 N 125 N 220 N Ř 6LQJOHPXOWLWXUQ ELt /ELW The standard settings as well as any customization in the software can The standard settings asFwell max. 50 N in the 70 N 120 N a as any customization )RUZDUGORRNLQJWHFKQRORJ\ZLWKELWSURFHVVRU be changedŘvia LSS (CiA 305) and the SDO protocol, e. g. PDOs, software can be changed LSS (CiA 305) and theNcm SDO < 1 Ncm Startingvia torque: < 0,3 < 1 Ncm Ř FRORXU/('DVLQGLFDWRUIRURSHUDWLQJFRQGLWLRQ Scaleing, Heartbeat, Node-ID, Baud rate, etc. (at ambient temperature) protocol, e.g. PDOs, scaling, heartbeat, node-ID, baud rate, Ř +LJKVKDIWORDGXSWR1UDGLDO1D[LDO Service life: Programmable CAN transmission modes etc at 100 % rated shaft load 1 x 109 revs. 1 x 109 revs. 1 x 109 revs.
Programmable CANatTransmission Modes 20 % rated shaft load 1 x 1011 revs. 1 x 1011 revs.1 x 1011 revs. Synchronous.......... When a synchronisation telegram Hollow shaft encoder: WDGA 36E (SYNC) is received from another bus Specifications: Flange: hollow bore node, PDOs are transmitted6 indepenShaft Ø: mm Insertion depth min./max.: 8 mm /17 mm Mechanical Data dantly speed max.: 12,000 +RXVLQJ Asynchronous........ AOperating PDO message is triggered byVWHHOFDVHFKURPHSODWHG anrpm Permissible shaft loading: event (e.g. change of measured PDJQHWLFVKLHOGLQJ internal max. F 80 N r 6KDIWKROORZERUH EOLQG VWDLQOHVVVWHHO value, max. Fainternal timer, etc.) 50 N$OXPLQLXP )ODQJH Starting torque: %HDULQJW\SH
< 0,3SUHFLVLRQEDOOEHDULQJV Ncm
www.wachendorff-automation.com/wdgassi • Sychronous mode: when a synchronisation telegram (SYNC) 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 (at ambient temperature) SSI Interface Definition connector pin Sensor connector CANopen Encoders &ORFNLQSXW YLDRSWRFRXSOHU Service (connectorpin assignment Clock Input............. via optolife: coupler 6KDIWHQFRGHU WDGA 36A WDGA 58A WDGA 58B &ORFNIUHTXHQF\ at 100 % rated shaft load 1,4 x 108 revs. Function Pin N+]XSWRN+] encoder) 5-pin )ODQJH to 500KHz V\QFKUR V\QFKUR FODPSLQJ Clock Frequency.... 100KHz at 40 % rated shaft load 2,0 x 109 revs. XSWR0+]RQUHTXHVW 6KDIW PP PP PP UB +VDC 2 2 5656FRPSDWLEOH Data Output........... RS485 RS422 compatable at 20 %/ rated shaft load 1,7 x 1010 revs. 'DWDRXWSXW /HQJWKRIVKDIW PP PP PPGround (GND) 3 Output Code.......... Gray or binary 2XWSXWFRGH JUD\RUELQDU\ (GND) 3 2SHUDWLQJVSHHGPD[ USP USP USP Ground Sensor data 4 $QJXODU/SRVLWLRQYDOXH CANHigh 66,RXWSXW SSI Output............. Angular position value 3HUPLVVLEOHVKDIWORDGLQJ Singleturn technology: innovative hall sensor technology CAN 3DULW\ELW 4 5 RSWLRQDO HYHQRGG Parity Bit................. Optional CANLow High Singleturn 4.096 steps/360° (121 Bit) PD[)r(even/odd) resolution: 1 1 (UURUELW RSWLRQDO Error Bit.................. Optional Singleturn
Standard Size 36 mm Package (1.42") Durable Magnetic Technology Up to 14 Bits of Single Turn Resoltuion SSI and CANopen Communications
The Model SA36S 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 SA36S an excellent choice for all applications, especially ones with a high presence of noise. Available with a 6 mm or 1/4" shaft and a servo mount, the Model SA36S 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 SA36S Ordering Guide
For Multiturn applications see Model MA36S
Blue type indicates price adder options. Not all configuration combinations may be available. Contact Customer Service for details.
Mechanical
SA36S
19
MODEL SA36S Solid Shaft
Electrical
MB
12
RESOLUTION 12 Bit (CANopen) 08 to 14 Bit (SSI)
V3
P1
COMM PROTOCOL P1 CANopen P2 SSI
SHAFT SIZE 19 1/4", 0.250" 20 6 mm MOUNTING MB 36 mm Servo Mount
Input Voltage 05 5 VDC2 V3 10 to 30 VDC
A
C1
EMJ
SOFTWARE REV A Revison A
OUTPUT CODE C1 Binary C2 Gray2
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 SA36S Single Turn Absolute Model SA36SSpecifications 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 SA36S Solid Shaft
5 VDC SSI Only Input Current..............50 mA max with no external load Power Consumption.. 0.5 W max Resolution..................12 bit (CAN) Specifications: 8 to 14 bit (SSI) Mechanical Accuracy....................Less than .15°Data (CANopen) Housing: ferrous chrome-plated, Less than .35° (SSI) Shaft/ hollow bore (blind):
magnetic screening stainless steel, not magnetic
at 40 % rated shaft load
1 x 1010 revs. 1 x 1010 revs.1 x 1010 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
(0DLO ZGJ#ZDFKHQGRUIIGHŘZZZZDFKHQGRUIIDXWRPDWLRQFRP CANopen Interface Flange: Aluminium Interface CAN Bearing type: 2 precision ball bearings Protocol: CANopen Protocol.................. CANopen: Communication profil CiA 301 ® -Encoder Communication profile CiA 301 36A WDGA 58ASSI WDGA with EnDra Shaft encoder: WDGAabsolute WDGAmagnetic 58B - Device Profile for encoder -Flange: Device profile for encodersynchro CiA 406 synchro clamping CiA 406 V3.2 class C2 Shaft 6 mm 6 mm 10 mm V3.2Ø:class C2 ® Length: 11.5 mm 12 mm 20 mm Node number: 0 up to 127 (default 127) Ř (Q'UD PXOWLWXUQWHFKQRORJ\ Node Number........ 0 to 127 (default 127) Operating speed max.: 12,000 rpm 8,000 rpm 8,000 rpm Baud rate: PDLQWHQDQFHIUHHDQGHQYLURQPHQWDOO\IULHQGO\ 10 kBaud up to 1 MBaud Baud Rate.............. 10 Kbaud toshaft 1 Mbaud with automatic bit Permissible loading: with automatic bit rate detection Ř 66,JUD\RUELQDU\ rate max.detection Fr 80 N 125 N 220 N Ř 6LQJOHPXOWLWXUQ ELt /ELW The standard settings as well as any customization in the software can The standard settings asFwell max. 50 N in the 70 N 120 N a as any customization )RUZDUGORRNLQJWHFKQRORJ\ZLWKELWSURFHVVRU be changedŘvia LSS (CiA 305) and the SDO protocol, e. g. PDOs, software can be changed LSS (CiA 305) and theNcm SDO < 1 Ncm Startingvia torque: < 0,3 < 1 Ncm Ř FRORXU/('DVLQGLFDWRUIRURSHUDWLQJFRQGLWLRQ Scaleing, Heartbeat, Node-ID, Baud rate, etc. (at ambient temperature) protocol, e.g. PDOs, scaling, heartbeat, node-ID, baud rate, Ř +LJKVKDIWORDGXSWR1UDGLDO1D[LDO Service life: Programmable CAN transmission modes etc at 100 % rated shaft load 1 x 109 revs. 1 x 109 revs. 1 x 109 revs.
Programmable CANatTransmission Modes 20 % rated shaft load 1 x 1011 revs. 1 x 1011 revs.1 x 1011 revs. Synchronous.......... When a synchronisation telegram Hollow shaft encoder: WDGA 36E (SYNC) is received from another bus Specifications: Flange: hollow bore node, PDOs are transmitted6 indepenShaft Ø: mm Insertion depth min./max.: 8 mm /17 mm Mechanical Data dantly speed max.: 12,000 +RXVLQJ Asynchronous........ AOperating PDO message is triggered byVWHHOFDVHFKURPHSODWHG anrpm Permissible shaft loading: event (e.g. change of measured PDJQHWLFVKLHOGLQJ internal max. F 80 N r 6KDIWKROORZERUH EOLQG VWDLQOHVVVWHHO value, max. Fainternal timer, etc.) 50 N$OXPLQLXP )ODQJH Starting torque: %HDULQJW\SH
< 0,3SUHFLVLRQEDOOEHDULQJV Ncm
www.wachendorff-automation.com/wdgassi • Sychronous mode: when a synchronisation telegram (SYNC) 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 (at ambient temperature) SSI Interface Definition connector pin Sensor connector CANopen Encoders &ORFNLQSXW YLDRSWRFRXSOHU Service (connectorpin assignment Clock Input............. via optolife: coupler 6KDIWHQFRGHU WDGA 36A WDGA 58A WDGA 58B &ORFNIUHTXHQF\ at 100 % rated shaft load 1,4 x 108 revs. Function Pin N+]XSWRN+] encoder) 5-pin )ODQJH to 500KHz V\QFKUR V\QFKUR FODPSLQJ Clock Frequency.... 100KHz at 40 % rated shaft load 2,0 x 109 revs. XSWR0+]RQUHTXHVW 6KDIW PP PP PP UB +VDC 2 2 5656FRPSDWLEOH Data Output........... RS485 RS422 compatable at 20 %/ rated shaft load 1,7 x 1010 revs. 'DWDRXWSXW /HQJWKRIVKDIW PP PP PPGround (GND) 3 Output Code.......... Gray or binary 2XWSXWFRGH JUD\RUELQDU\ (GND) 3 2SHUDWLQJVSHHGPD[ USP USP USP Ground Sensor data 4 $QJXODU/SRVLWLRQYDOXH CANHigh 66,RXWSXW SSI Output............. Angular position value 3HUPLVVLEOHVKDIWORDGLQJ Singleturn technology: innovative hall sensor technology CAN 3DULW\ELW 4 5 RSWLRQDO HYHQRGG Parity Bit................. Optional CANLow High Singleturn 4.096 steps/360° (121 Bit) PD[)r(even/odd) resolution: 1 1 (UURUELW RSWLRQDO Error Bit.................. Optional Singleturn
