Absolute encoders - bus interfaces Encoder with solid shaft ø11 mm and EURO flange B10 Single and multiturn 13 bit ST / 12 or 16 bit MT SSI / Profibus / CANopen® AMG 81 Features –– Multiturn / SSI / Profibus / CANopen® –– Optical sensing –– Singleturn 13 bit, multiturn 12 bit / 16 bit –– EURO-flange B10 / solid shaft ø11 mm Optional –– Additional incremental output (TTL / HTL) Technical data - mechanical design Voltage supply 9...30 VDC Size (flange) ø115 mm Consumption w/o load ≤100 mA (per interface SSI) ≤250 mA (per interface bus) Shaft type ø11 mm solid shaft Initializing time ≤200 ms after power on Flange EURO flange B10 Interfaces SSI, Profibus-DPV0, CANopen® Protection DIN EN 60529 IP 55 Operating speed ≤3500 rpm (mechanical) Function Multiturn Operating torque ≤10 Ncm Transmission rate 9.6...12000 kBaud (Profibus) 10...1000 kBaud (CANopen®) Rotor moment of inertia 1.4 kgcm² Shaft loading Profile conformity Profibus-DPV0 CANopen® CiA DSP 406 V 3.0 ≤50 N axial ≤60 N radial Materials Device adress Rotary switch in bus cover Housing: aluminium alloy Shaft: stainless steel Steps per turn 8192 / 13 bit Operating temperature -20...+85 °C Number of turns 4096 / 12 bit, 65536 / 16 bit Resistance Additional output signals Square-wave TTL (RS422) Square-wave HTL IEC 60068-2-6 Vibration 10 g, 10-2000 Hz IEC 60068-2-27 Shock 100 g, 6 ms Incremental output 2048 pulses per revolution Explosion protection Sensing method Optical Code Gray (version SSI) II 3 G Ex nA IIC T4 Gc (gas) II 3 D Ex tc IIIB T120°C Dc (dust) Code sequence CW default Weight approx. 1.7 kg (depending on version) Inputs SSI clock (version SSI) Connection Interference immunity EN 61000-6-2 Bus cover Flange connector M23, 12-pin (SSI/incremental) Emitted interference EN 61000-6-3 Programmable parameters Depending on the selected absolute interface Diagnostic function Position or parameter error Status indicator DUO-LED integrated in bus cover Approvals CE, RoHS, UL approval / E256710 1 www.baumer.com/motion 3/10/2013 Technical data - electrical ratings Subject to modification in technic and design. Errors and omissions excepted. AMG 81 P (C) + incremental Absolute encoders - bus interfaces Encoder with solid shaft ø11 mm and EURO flange B10 Single and multiturn 13 bit ST / 12 or 16 bit MT SSI / Profibus / CANopen® AMG 81 Part number Accessories AMG 81 Connectors and cables HEK 8 Additional incremental signals Z0 Without T2048 TTL level, 2048 pulses H2048 HTL level, 2048 pulses Sensor cable for encoders Mounting accessories Absolute share 13 13 bit singleturn 25 13 bit singleturn + 12 bit multiturn (only S version) 29 13 bit singleturn + 16 bit multiturn (only P and C version) K 35 Spring disk coupling for solid shaft ø6...12 mm K 50 Spring disk coupling for solid shaft ø11...16 mm K 60 Spring disk coupling for solid shaft ø11...22 mm Diagnostic accessories HENQ 1100 Analyzer for encoders 2 www.baumer.com/motion 3/10/2013 Subject to modification in technic and design. Errors and omissions excepted. Interface/interfaces S SSI P Profibus C CANopen® Absolute encoders - bus interfaces Encoder with solid shaft ø11 mm and EURO flange B10 Single and multiturn 13 bit ST / 12 or 16 bit MT SSI / Profibus / CANopen® AMG 81 Terminal assignment - Profibus Terminal assignment - CANopen® View A - Connecting terminal in cover View A - Connecting terminal in cover Terminal significance - Profibus Terminal significance - CANopen® A Negative serial data transmission, pair 1 and pair 2 CAN_L CAN Bus signal (dominant low) B Positive serial data transmission, pair 1 and pair 2 CAN_H CAN Bus signal (dominant high) UB Voltage supply 9...30 VDC UB Voltage supply 9...30 VDC GND Ground connection for UB GND Ground connection for UB Terminals with the same label are internally connected. Features - CANopen® Protocol ProfibusDPV0 Protocol CANopen® Profibusfeatures DeviceClass1and2 CANopen® features Device class 2 CAN 2.0B Data Exch. functions Input: Position value Output: Preset value Deviceprofile CANopen® CiA DSP 406, V 3.0 Preset value The „Preset“ parameter can be used to settheencodertoapredefinedvalue thatcorrespondstoaspecificaxis position of the system. Operation modes Polling mode (asynch, via SDO) Cyclic mode (asynch-cyclic) Synch mode (synch-cyclic) Acyclic mode (synch-acyclic) Parameter functions Rotating direction: The relationship between the rotating direction and rising or falling output code values can be set in the operating parameter. Scaling: The parameter values set the number of steps per turn and the overall resolution. Diagnostic The encoder supports the following error messages: - Position error Default settings User address 00 Diagnostic The encoder supports the following error messages: - Position error Default settings User address 00 3 www.baumer.com/motion 3/10/2013 Features - Profibus Subject to modification in technic and design. Errors and omissions excepted. Terminals with the same label are internally connected. Absolute encoders - bus interfaces Encoder with solid shaft ø11 mm and EURO flange B10 Single and multiturn 13 bit ST / 12 or 16 bit MT SSI / Profibus / CANopen® AMG 81 Data transfer Output signals Additional incremental signals at positive rotating direction nT t1 T Clock K1 27(11) 28(12) 29(13) MSB t2 LSB K1 t3 90° K2 1.25 ... 10 µs = t1 = 0.63 ... 5 µs t2 ≤ 0.4µs t3 = 12 ... 30 µs n = Number of bits Clock frequency K2 Terminal assignment 100...800 kHz View B Connector M23, 12-pin, male contacts, counter-clockwise Male Assignment Pin 1 K2 (K2 inv.) Pin 2 Clock * Pin 3 Data * Pin 4 Data * Pin 5 K1 Pin 6 K1 (K1 inv.) Pin 7 Param * Pin 8 K2 Pin 9 Error * Pin 10 GND Pin 11 Clock * Pin 12 +UB Subject to modification in technic and design. Errors and omissions excepted. T * only for SSI 1 2 3 4 4 9 8 12 10 11 7 6 5 www.baumer.com/motion 3/10/2013 Data Absolute encoders - bus interfaces Encoder with solid shaft ø11 mm and EURO flange B10 Single and multiturn 13 bit ST / 12 or 16 bit MT SSI / Profibus / CANopen® AMG 81 Dimensions Version with Profibus or CANopen® Positive rotating direction A Mating connector Version with SSI and/or incremental Mating connector Version with Profibus or CANopen® and incremental Positive rotating direction A B Mating connector 5 www.baumer.com/motion 3/10/2013 B Subject to modification in technic and design. Errors and omissions excepted. Positive rotating direction