IVO GM401.090A004 Absolute encoders - ssi Datasheet

Absolute encoders - SSI
Shaft with clamping or synchro flange
Optical multiturn encoders 14 bit ST / 12 bit MT
GM400, GM401 - SSI
Features
–– Encoder multiturn / SSI
–– Optical sensing
–– Resolution: singleturn 14 bit, multiturn 12 bit
–– Clamping flange or synchro flange
–– Electronic setting of zero point
–– Counting direction input
–– Suitable for high positive and negative accelerations
–– Available with additional incremental output
Optional
Technical data - mechanical design
Voltage supply
Housing
ø58 mm
Protection DIN EN 60529
IP 54 without shaft seal
IP 65 with shaft seal
10...30 VDC
Reverse polarity protection Yes
Consumption w/o load
≤50 mA (24 VDC)
Initializing time (typ.)
20 ms after power on
Operating speed
Interfaces
SSI, Incremental A 90° B
(optional)
≤10000 rpm (mechanical)
≤6000 rpm (electric)
Starting torque
Steps per turn
16384 / 14 bit
≤0.015 Nm IP 54
≤0.03 Nm IP 65
Number of turns
4096 / 12 bit
Rotor moment of inertia
20 gcm²
Incremental output
2048 pulses A90°B
+ inverted
Admitted shaft load
≤20 N axial
≤40 N radial
Absolute accuracy
±0.025°
Materials
Sensing method
Optical
Housing: steel
Flange: aluminium
Code
Gray or binary
Operating temperature
-25...+85 °C
-40...+85 °C (optional)
Code sequence
CW/CCW coded by connection
Relative humidity
95 % non-condensing
Inputs
SSI clock
Control signals UP/DOWN and
zero
Resistance
Output circuit
SSI data linedriver RS485
Diagnostic outputs push-pull
DIN EN 60068-2-6
Vibration 10 g, 16-2000 Hz
DIN EN 60068-2-27
Shock 200 g, 6 ms
Weight approx.
400 g
Interference immunity
DIN EN 61000-6-2
E-connection
Connector or cable
Emitted interference
DIN EN 61000-6-4
Diagnostic functions
Self-diagnosis
Code continuity check
Multiturn sensing
GM400
Approval
Shaft
ø10 mm
Flange
Clamping flange
GM401
UL approval / E63076
1
Shaft
ø6 mm
Flange
Synchro flange
www.baumerivo.com
29/10/2008
Technical data - electrical ratings
Subject to modification in technic and design. Errors and omissions excepted.
–– Stainless steel design
GM400 with clamping flange
Absolute encoders - SSI
Shaft with clamping or synchro flange
Optical multiturn encoders 14 bit ST / 12 bit MT
GM400, GM401 - SSI
Part number
Clamping flange
Synchro flange
GM400.
GM401.
Pulses / Incremental output
No incremental output
2048 pulses / push-pull
2048 pulses / RS422
2048 pulses / sine 1 Vpp
02
04
06
07
E-connection
A0 Connector M23, 12-pin, axial
A1 Connector M23, 12-pin, radial
A2 Connector M23, 12-pin, axial,
for incremental output 04/06/07
A3 Connector M23, 12-pin, radial,
for incremental output 04/06/07
11 Cable 1 m, axial
21 Cable 1 m, radial
10
12
20
30
40
90
92
Pulses / Incremental output
No incremental output
2048 pulses / push-pull
2048 pulses / RS422
2048 pulses / sine 1 Vpp
E-connection
A0 Connector M23, 12-pin, axial
A1 Connector M23, 12-pin, radial
A2 Connector M23, 12-pin, axial,
for incremental output 04/06/07
A3 Connector M23, 12-pin, radial,
for incremental output 04/06/07
11 Cable 1 m, axial
21 Cable 1 m, radial
Voltage supply / signals
10...30 VDC / gray code 25 bit
10...30 VDC / binary code 25 bit
10...30 VDC / gray code 24 bit
10...30 VDC / gray code 25 bit + parity
10...30 VDC / gray code 24 bit + DV
10...30 VDC / gray code 26 bit
10...30 VDC / binary code 26 bit
10
12
20
30
40
90
92
Flange / Shaft
1 Synchro flange / ø6 mm IP 54
B Synchro flange / ø6 mm IP 65
Subject to modification in technic and design. Errors and omissions excepted.
Flange / Shaft
0 Clamping flange / ø10 mm IP 54
A Clamping flange / ø10 mm IP 65
Voltage supply / signals
10...30 VDC / gray code 25 bit
10...30 VDC / binary code 25 bit
10...30 VDC / gray code 24 bit
10...30 VDC / gray code 25 bit + parity
10...30 VDC / gray code 24 bit + DV
10...30 VDC / gray code 26 bit
10...30 VDC / binary code 26 bit
2
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29/10/2008
02
04
06
07
Absolute encoders - SSI
Shaft with clamping or synchro flange
Optical multiturn encoders 14 bit ST / 12 bit MT
GM400, GM401 - SSI
Accessories
Trigger level
Connectors and cables (page %S)
SSI
Circuit
SSI-Clock
Optocoupler
SSI-Data
Linedriver RS485
Z 130.001
Female connector M23, 12-pin, less cable
Z 130.003
Female connector M23, 12-pin, 2 m cable
Z 182.001
Female connector M23, 12-pin, less cable
(incr.)
Control inputs
Input circuit
Z 182.003
Female connector M23, 12-pin, 2 m (incr.)
Input level High
>0.7 UB
Input level Low
<0.3 UB
Input resistance
10 kΩ
Diagnostic outputs or
Incremental outputs
Output circuit
Push-pull circuit-proof
Output level High
>UB -3.5 V (I = -20 mA)
Output level Low
<0.5 V (I = 20 mA)
Load High
<20 mA
Load Low
<20 mA
Mounting accessories for GM400 (page %S)
Eccentric fixing, single
Z 119.013
Adaptor plate for clamping flange for
modification into synchro flange
Z 119.017
Mounting angle for clamping flange
Mounting accessories for GM401 (page %S)
Z 119.006
Eccentric fixing, single
Z 119.015
Mounting adaptor for synchro flange
Z 119.035
Bearing flange for encoders with synchro
flange
Data transfer
tp
T=1/f
tm
clock
tv
bit n
bit n-1
bit 3
bit 2
bit 1
Clock frequency f
62.5...1500 kHz
Scan ratio of T
40...60 %
Time lag tv
150 ns
Monoflop time tm
25 µs + T/2
Clock interval tp
30 µs
Linedriver RS422
>2.5 V (I = -20 mA)
Output level Low
<0.5 V (I = 20 mA)
Load High
<20 mA
Load Low
<20 mA
Outputs
Sine / Cosine
Input level
1 Vpp ±10 %
Load
<10 mA
Subject to modification in technic and design. Errors and omissions excepted.
data
Incremental outputs
Output level High
3
www.baumerivo.com
29/10/2008
Z 119.006
Absolute encoders - SSI
Shaft with clamping or synchro flange
Optical multiturn encoders 14 bit ST / 12 bit MT
GM400, GM401 - SSI
Terminal significance
Terminal assignment
UB
Encoder voltage supply.
GM400, GM401
GND
Encoder ground connection relating to UB.
Connector
Core colour
Assignment
Data+
Positive, serial data output of differential
linedriver.
Pin 1
brown
UB
Data-
Negative, serial data output of differential
linedriver.
Pin 2
black
GND
Pin 3
blue
Clock+
Pin 4
beige
Data+
Pin 5
green
Zero setting
Pin 6
yellow
Data-
Pin 7
violet
Clock-
Pin 8
brown/yellow DATAVALID
Pin 9
pink
UP/DOWN
Pin 10
black/yellow
DATAVALID MT
Pin 11
–
–
Pin 12
–
–
Zero setting
DATAVALID
Negative SSI clock input.
Clock- together with clock+ forms a current
loop. A current of approx. 7 mA towards
clock- input means logic 0 in positive logic.
Input for setting a zero point anywhere
within the programmed encoder resolution.
The zero setting operation is triggered by a
High impulse and has to be in line with the
selected direction of rotation (UP/DOWN).
Connect to GND after setting operation for
maximum interference immunity. Impulse
duration >100 ms.
GM400, GM401 with inremental tracks
Diagnostic output.
An error warning is given at level Low.
Important: Interferences must be drained
by the downstram electronics.
DATAVALID MT Diagnostic output for monitoring the
multiturn sensor voltage supply. Upon
dropping below a defined voltage level the
DV MT output is switched to Low.
UP/DOWN
Incremental
Outputs
UP/DOWN counting direction input.
This input is standard on High. UP/DOWN
means ascending output data with clockwise shaft rotation when looking at flange.
UP/DOWN-Low means ascending values
with counterclockwise shaft rotation when
looking at flange.
Connector
Core colour
Assignment
Pin 1
brown
UB
Pin 2
white
GND
Pin 3
blue
Clock+
Pin 4
green
Data+
Pin 5
grey
Zero setting
Pin 6
yellow
Data-
Pin 7
red
Clock-
Pin 8
red/blue
Track B inv.
Pin 9
pink
UP/DOWN
Pin 10
violet
Track a inv.
Pin 11
black
Track A
Pin 12
grey/pink
Track B
8
Incremental tracks A 90° B and inverted.
7
10
12
2
Please use cores twisted in pairs (for
example clock+ / clock-) for extension cables of more than 10 m length.
3
6
5
4
9 1
11
4
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Subject to modification in technic and design. Errors and omissions excepted.
Clock-
Positive SS clock input.
Clock+ together with clock- forms a current
loop. A current of approx. 7 mA towards
clock+ input means logic 1 in positive logic.
29/10/2008
Clock+
Absolute encoders - SSI
Shaft with clamping or synchro flange
Optical multiturn encoders 14 bit ST / 12 bit MT
GM400, GM401 - SSI
Dimensions
GM400 clamping flange
10 20
46
10 20
15
10 20
46
10 20
15
ø10h6
9
ø58
ø53
ø36f8
9
59
ø10h6
15
17
3
3
3
3
16
13
10
9
59
ø58
ø52
ø6f8
ø50h7
58
5.5
4
3
3
5
www.baumerivo.com
Subject to modification in technic and design. Errors and omissions excepted.
GM400, GM401 connector dimensions
29/10/2008
GM401 synchro flange
42±0.1
M4x7 (3x120°)
ø58
46
ø53
3
3
3
48±0.1
M3x7 (3x120°)
ø58
3
17
ø36f8
9
11.5
ø58
16
9
ø36f8
ø53
ø10h6
ø10h6
15
ø53
46
ø36f8
48±0.1
M3x7 (3x120°)
Absolute encoders - SSI
Shaft with clamping or synchro flange
Optical multiturn encoders 14 bit ST / 12 bit MT
6
www.baumerivo.com
29/10/2008
Subject to modification in technic and design. Errors and omissions excepted.
GM400, GM401 - SSI
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