Absolute encoders - bus interfaces Through hollow shaft ø20 to ø27 mm Optical multiturn encoders max. 17 bit ST / 16 bit MT, EtherCAT ATD 4B A 4 Y11 Features –– Encoder single- or multiturn / EtherCAT –– Optical sensing –– Resolution: max. singleturn 17 bit, multiturn 16 bit –– Through hollow shaft ø20...27 mm –– Short cycle times up to 62.5 µs –– Parametrizable by bus interface –– Self-diagnostic –– Electronic zero point adjustment Technical data - mechanical design Voltage supply Size (flange) ø80 mm Shaft type ø20 mm (through hollow shaft) ø22 mm (through hollow shaft) ø25 mm (through hollow shaft) ø27 mm (through hollow shaft) Protection DIN EN 60529 IP 65 Operating speed ≤5000 rpm (mechanical) IP 54 ≤3000 rpm (mechanical) IP 65 ≤7000 rpm (electric) 10...30 VDC Reverse polarity protection Yes Consumption w/o load ≤150 mA (24 VDC) Interface EtherCAT Function Multiturn Profile conformity CANopen® over EtherCAT Operating mode Full-Duplex Fast Ethernet physics (100 BASE-TX) Steps per turn ≤131072 / 17 bit Starting torque ≤0.02 Nm (+20 °C) Number of turns ≤65536 / 16 bit Materials Sensing method Optical Housing: aluminium Shaft: stainless steel Code sequence CW: ascending values with clockwise sense of rotation; looking at mounting surface Operating temperature -20...+85 °C Relative humidity 90 % non-condensing Resistance DIN EN 60068-2-6 Vibration 10 g, 55-2000 Hz DIN EN 60068-2-27 Shock 30 g, 11 ms Weight approx. 590 g Connection Connector M12, female D-coded, 4-pin Connector M12, A-coded, 4-pin Motor shaft tolerance 0.25 mm axial 0.1 mm radial Programmable parameters Diagnostic functions Status indicator Steps per revolution Total resolution Rotational direction CW/CCW Number of revolutions Operating modes Position or parameter error Temperature control Multiturn sensing Self-diagnosis 4-LED integrated in housing 1 www.baumer.com/motion 7/10/2013 Technical data - electrical ratings Subject to modification in technic and design. Errors and omissions excepted. ATD 4B A 4 Y11 with through hollow shaft Absolute encoders - bus interfaces Through hollow shaft ø20 to ø27 mm Optical multiturn encoders max. 17 bit ST / 16 bit MT, EtherCAT ATD 4B A 4 Y11 Part number ATD 4B A 4 Y11 EC M12 S IP54 IP65 20 22 25 27 Protection IP 54 IP 65 Through hollow shaft ø20 mm, clamping ring ø22 mm, clamping ring ø25 mm, clamping ring ø27 mm, clamping ring Operating temperature S -20...+85 °C Connection M12 3 x connector M12 Interface EC EtherCAT Subject to modification in technic and design. Errors and omissions excepted. Resolution 15/16 bit single-/multiturn 17/12 bit single-/multiturn 2 www.baumer.com/motion 7/10/2013 15/16 17/12 Absolute encoders - bus interfaces Through hollow shaft ø20 to ø27 mm Optical multiturn encoders max. 17 bit ST / 16 bit MT, EtherCAT ATD 4B A 4 Y11 Terminal significance Terminal assignment Bus-protocolEtherCAT,CoE (CANopenoverEtherCAT) Connector Assignment Significance OperationmodeFull-DuplexFastEthernetphysics (100BASE-TX) Pin1 Transmissiondata+ Pin2RxD+ Receivingdata+ Pin3 CommunicationModi: -Asynchron -Framesynchron -DistributedClocksynchron Cycletimes: - min 62,5 μs to max. 32 ms in DistributedClock TxD- Pin4RxD- TransmissiondataReceivingdata- 2 1 3 4 Communication profile compatible to CANopen according to DS 301 Socket,4-poles,bushcontacts,M12D-coded(IN/OUT) according to DS 406 Diagnostic messages position error, operating temperature overrun,battery,hardwareerror Connector Assignment Significance Pin1VDC Supplyvoltage Pin2– Notassigned Pin3GND Ground Pin4– Notassigned 4 3 1 2 Subject to modification in technic and design. Errors and omissions excepted. Socket,4-poles,pincontacts,M12A-coded(POWER) 3 www.baumer.com/motion 7/10/2013 Device profile TxD+ Absolute encoders - bus interfaces Through hollow shaft ø20 to ø27 mm Optical multiturn encoders max. 17 bit ST / 16 bit MT, EtherCAT ATD 4B A 4 Y11 Dimensions cylinder head screw 30 M4 - DIN 912 9.5 A/F3 tightening torque max. 2.2 Nm ø1 00 20° d H6 3 3. R 74.5 114 66 mounting kit 086 (standard) connector type 4, 4-pin - bush contact M12 D-coded OUT connector type 4, 4-pin - pin contact M12 A-coded POWER connector type 4, 4-pin - bush contact M12 D-coded IN Subject to modification in technic and design. Errors and omissions excepted. 034- 8 Y11 4 www.baumer.com/motion 7/10/2013 link/activity ERROR RUN link/activity (red) (green) IN OUT (yellow) (yellow) observe position! (slot of the hollow shaft and the clamp ring) flexible torque support