实例介绍
【实例简介】
多摩川编码器说明书 串行信号接收芯片AU5561可 以解码Ts5647、 Ts5648、 Ts5667、 Ts5668、 Ts5669等 型号的编码器 ,可以提供 40到iiO位串并信号的转换 ,并且可以和1s/32位 CPU或 DsP总线接 口。AU5661N1,提 供中断信号与CPU同步 , 它也能在没有CPU的两种方式 (手动模式 )下读取编码 器数据 :lD3(单回转数据 ,多回转数据与报警
7S508 TS5170 O/S128series o/S85 series 产品类型 增量式 产品类型 增量式 incremental Incremental 电源电压 电源电压 Supply voltage DC+24V±20% Supply voltage DC+5V±5% 外径 128Imrn 85mm 分解能 25~5000C/T 分解能 9600~50,000C Resolution Resolution 输出方式 电压输出 otago Cutput 输出方式 长线驱动 Output for 推拉互补输出 Push pul Output Output form Line Drive 保护构造 P=57 保护构造 P-52 Protective construction Protective construction 质量 7 kg Max据置型,8 kg max/加载型 质量 1 kg Max Mass vass 用途: Application 用途: Application 制造钢铁生产线 Iron steel line ■交流伺服马达 AC servo motors 工程机械 Machine tools 造纸生产线 Paper Producing Line T55410 S5647755648 O/S90 Series SA56 Series 产品类型 增量式 产品类型 智能绝对式 Incremental Smart Abs 电源电压 DC+5V±5% 电源比压 Supply Voltage Supply Voltage 外径 56mm Size Size 分解能 00c0C/T,100,000G丌,12000T, 分解能 20or16oit多回转计数量16bt 器 Resolution 36000CcT,400,000c7,480,0007 Resolution (65,536转)合计6or32bt 输出方式 长线驱动 20 or 16bit/tum and 16bit/65, 536 Output form turns(total 36 or 32bit) 保护构造 输出方式 Protective construction Output form Line driver 质量 3kg Max 保护构造 开放构造 Protective construction Not Enclosed 用途: Application 0. 6kg Max 测量设备 Measuring Equipment 工程机械 Machine tools 用途: Application ■工程机械 Machine tools 机器人 Robots 机器人 Robots 计测机器 Measuring Instruments 高精度角度割出装置Hgh- accuracy Angular Indexing Equipment 半导体生产设备 Semiconductor manufacturing Equipment 7S5667N253 7S5667N650 SA100 Series SA135 Se eres 产品类型 智能绝对式 产品类型 智能绝对式 Smart Abs Smart Abs 电源电压 电源电压 DC+5V±5% DC45V±5% Supply voltage Supp y voltage 外径 135mm 100mm 分解能 17b转,16bt转总计3bt 分解能 17b转,16多转总计33bt Resolution 17cit/um and 1 6bit multitums Total 33 bit Resolution 7btturm and 16bit multiturn Total 33 bit 长线驱动 输出方式 长线驱动 输出方式 Output form Linc drivcr Line Driver 保护构造 保护构造 P-40 Protective construction Protective construction 质量 12 ka Max(不含引线) 质量 15 kg max(不含引线) Without cable) Mass (Without cable) 用途: Application 用途: Application 大功率马达 Large wattage motors 大功率马达 Large wattage motors 机器人 Robots 机器人 Robots 工程机械 Machine Tools 工程机械 Machine tools 树脂成形机 njection Machines 树脂成形机 njection Machines QAnD艾而特22 电梯专用编码器 ELEVATOR ENCODER 尺寸 mm Dimer sion mm TS5200N500 PCD4D o/H48Series hounding plate details 蝙码器安装面 Encocer mounting surtace 用途 特点 252M3 闪六角丝 APPLICATION FEATURES picket se: screw 在轴上痄荐尺寸 (Attached sions or shaft ●有齿、无齿电引机 ●易安装 Gear and gearless tractive motor Easy to attach除非特别说明,否则公券一律为=05 mnUnless otherwise specified tolerance is s+n5m 尺寸 mm Dimension mn TS5200N400 p35 O/H60Series 空」 用途 特点 APPLICATION FEATURES 器 有齿、无齿曳引机 易安装 雄明细图内六角手拧紧 Gear and gearless tractive motor Easy to attach 轴推荐尺寸 出除非特别说明,否则公差一律为±0.5 Ium Urless otherwise spccificd tolerance is+0:m 755208N1 e OlH100 series 式样 SPECIFICATIONS 135 ●输出方式:长线驱动、推拉互补、集电极开路、正余弦 =52 留投线表 CTION TABLE Output form: Line Driver, push Pull, open collector, Sincos 我色功能「引线频色。 ●电源电压 Supply voltage:5-15V ●分解能 resolution:1024、40965000、6000、8190、10000CT 当U儿 在轴上批荐只寸 抽璃址图、的 普属2警出PU 安装方式:各种各样 Attaching way: Various OH 分解能C丌 光电式 Optical 外径Size N。 TSLLLUNLI 增量型 中48mm Resolution 中6o 512 中空轴 Hollow Shalt 4100mm 1024 TS5208 编码器 Encoder Ts5213 翰出相 4096 TS5216 ABZ s5217 6 A, B, Z u, M,w Ts5233 7: A, B, ZFOF1F2, F3 6000 8192 TS5246 10000 TS5236 输出方式 C:开放电极 Open Co lecto 拉写补 Push pull 长线驱动 Line driver ⑧对于特殊情况,请联系我们 O For special cases, pleasc consult us. 23【AnD艾而特 连接方面的注意事项 NOTICE IN TRANSMITTING 1.怎样连接到电源 1. HOW TO CONNECT TO A POWER SUPPLY 应该通过单独的带屏蔽线的电源线进行连接,任何 Connection should be made using a plus and ground 不正确的连接方法或不合适的连接线都可能导致传 power line which is shielded within a single insulated cable. Incorrect connection or improper cables will cause 输噪音。 unwanted noise in transmission 编码器应该单独连接到电源,并且独立于编码器一 The encoder should be connected to the power supply 起作的电子设备,每样设备都应该使用独立的电 separate from the electric device that the encoder is 缆连接到电源。 operating. Each should be connected to the power supply using separate cables 而不要通过中间电子设备连接到电源。编码器和中 Do not connect the encoder thru the electric device to 间电子设备的地线之间仔在的阻抗会导致编码器和 the power supply. The potential difference between the 电源之间产生潜在的差异,这种差异将导致异常 ground levels of the encoder and the power supply will be produced by impedance of zero level bus within the electric device. This will cause malfunction. 编码器输出 Encoder Output 编码器输出 coder Output 电源 电了装置 电源④电子装置 Power Electric Supply 编码 Power Supply Electric device 掮码器 ′Bu 图-1好例子 图-2不可取例子 Fig 1 Favorable Sample Fig2. No Recommendable Sampl 2.地线应该尽可能的粗 2. GROUND LINE SHOULD BE AS THICK AS POSSIBLE Ii是电源旳输岀电流,Io是编码器流过地线的输 li for power supply current and lo for output signals of an 州燃 出信号,Re是接地线直流阻抗,Ⅵ为输出信号可 encoder will flow thru a ground line. In case of Re for DC resistance of the ground line, VL for the level of the output 表达如下 signals will be as follows VL=(o+li)·Re(V) =(o+i)·Re(V) ⅥL值不会超出接收器阈值电平Vt,Re要尽可能小 The value of vi should not exceed t of threshold level 因为当Ⅵ接近Ⅵ时,编码器对于外部噪音米说是脆 for a receiver. Re should be as small as possible since the encoder will be vulnerable to external noise when Vl 弱的。 is closer toⅥt. 对丁长距离信号传送,除了电源插头上的一条地线 In case of long-distance transmission, another ground 外,再加·条地线也是必要的。 line besides the ground line paired with the plus line may be necessary. 〖()AnD艾而特24 3.外壳和电路之间短接 3. SHORT BETWEEN CASE GROUND AND CIRCUIT GROUND 在喚音比较重的环境中,在编码器外壳地和电路地 In case of having noise more than 50V between case 之间的噪音信号可能会超过50V,编码器电路可能会 ground and circuit ground under noisy circumstances, an electric circuit for an encoder may not function normally. 出现功能异常,在这种情况下,我们建议将外壳和 In this case, the short-circuiting of case ground and cir 电路地短接。 cuit ground is recommendable 然而,有时侯由于传送距离过长,短接可能会产生一 However, in case that other adverse effects appear 些相反的效果,或者说根本不可能将其短接时,我们 because of a long transmitting distance when case and circuit ground for an encoder are short-circuited and in 建议将外壳和电路之间加接个几个微法的有较好的 case shorting them is impossible for some reason, it is 频率特性的电容,用米做过滤噪音的滤波器。 recommendable to provide, between case and circuit ground, a few micro farad condensers with better fre- uency characteristics used for a noise filter. 4.电源线有噪声的情况 4. IN CASE OF HAVING NOISE ON POWER LINE 电源应该通过一根完全被屏蔽好了的传输线提供给 Power should be supplied to an encoder thru a transmit- 编码器,这样就不会有喚音信号出现在电源线上。 ting line completely shielded so that no noise occurrs on power line 将屏蔽线接地以稳定信号 Stable potential should be maintained by grounding the hield 有必要加长屏蔽线,这样在编码器附近的传输线就 It is necessary to distribute lines so that a transmitting 不会被暴露在屏蔽线外面。 line should not be exposed from the shield near an encoder 删5编码带输出信号有尖峰的情况 5. IN CASE OF SPIKE WAVES BETWEEN OUTPUT SIGNALS FOR AN ENCODER 在尖峰脉冲出现的情况下,将由双绞线传送信号消 In case of spike waves as shown in fig 3, Spike waves 除尖峰脉冲。 shall be deleted by transmitting by twist pair shield line 尖峰信号 尖峰信号 图-3峰形波 图-3峰形波 Fig 3 spike waves Fig 3 spike waves 6.编码器盒的潜在安全措施 6. POTENTIAL STABILIZATION FOR AN ENCODER CASE 编码器盒必须被保持在稳定的电位状态。 An encoder case must be maintained in stable potential 5[AnD艾而特 传送距离 TRANSMITTING DISTANCE 在开放集电极的情况下! IN CASE OF OPEN COLLECTOR 传输距离在大约50m以内(12VDC上拉),20mA集电极 Transmission within a distance of about 50m(12V DC pull 电流将是允许的! up) and 20mA as collector current shall be allowable 在长距离传输的情况下,带光耦的接受电路在图4 In case of a long range transmission, receiving circuit with 适合消灭在传输线中的噪音! photo couplers in fig. 4 is suitable for eliminating noise in transmission 编码器 屏酸线 编码器 屏蔽线 Encoder Shield Cable Shield Cable ≤R R2 Dc输出 输出 Output 图-4Fig.4 图-4Fig.4 在长线驱动的情况下 IN CASE OF LINE DRIVER 26Ls31 26LS32 ( 编码器 Encoder/※传送距离1km以下 编码器 Encoder/※传送距离1m以下 Transfer distance 1km Max Transfer distance 1km max 双絞线屏蔽 双绞线屏蔽 Twisted Pair Shield cable Twisted Pair Shield Cable 图-5Fg.5 图-5Fig.5 在推拉互补的情况下! IN CASE OF COMPLIMENTARY 双绞线屏蔽 双绞线屏辙 Twisted Pair Shield Cable Twisted Pair Shield Cable A:2Sc3733 B: 2SA1 电源 Power Supply A2sC3733 电源 Power Supply B2SA1460 A这X GND XXXX GND 厂输出信号线 输出信号线 itput signal 编码器 Encoder L:负载 L编码器E L:负载 ncode L: Load 怎样使用编码器控制信号H0WT0 USE ENCODER G0 NTROL SIGNALS 反向输入 REVERSE INPUT 通过端了“”或‘L”输入可以改变编 4.7kg Encoder direction can be changed by 码器方向,CCW和CW之间切换成为可能。 输入 inputting Hor L to this terminal. 如果不需要改变方向,电路输入4.7K欢 In case of no necessity of changing 相对的电压为正5伏电压,或接地 direction wire this terminal to +5v thru 4.7K Q2 or ground to the terminal. 门集输入 GATE INPUT 在该端子输入"凵"低电平可以保持编码器的 Angle data for an encoder shall be held 角度数据(直到输入高电平将数据锁存) by inputting L to this terminal (Data shall be latched until H is 输入 putted) 数据输入门电路后,大约需10μs的时间rpt After inputting data to gate, about 10us 米锁存数据,因此这段时间过去后才能 is required to latch data. So data can be 刷新数据。 renewed after passing this elapsed time. 〖)AnD艾而特26 用语定义 DEFINITIONS 在本书中主要术语的定义如下 Definitions of principal terminology used in this catalog are as follows ①旋转式编码器:一种将轴旋转角度转化为数字信息的检测① Rotary encoder: a detector that converts the rotary dis. placement of the shaft into digital signal. ②增量型:根据轴旋转位移输出脉冲序列的类型 2)Incremental type The type that outputs a pulse train in accordance with the rotary displacement of the shaft. ③光电型:通过检测旋转轴上改变的光量来接收信号的类型, Optical type. The type that rece, due to is by detecting 在轴上附带了光电检测机构和光栅 the shaft, coming with an optical detecting mechanism and an optical lattice fixed to the shaft. ④磁性型:通过检测轴上旋转而改变的磁场来接收信号 4 Magnetic type The type that receives signals by detect- ing the change in the magnetic field due to the rotation of the shaft, coming with an magnetic detecting mechanism and a magnetic lattice fixed to the shaft ⑤2相输出:一种由A、B相输出信号组成的模式,其相位差为⑤2 phase output: A mode with two outputs called A phase /4周期。 ⑥6相输出:一种由A、B、Z相和U、V、W相组成的模式。 (66-phase output: A mode consisting of A, B Phase and Zero reference pulse commutation output of UWw signal ⑦参考0位:也叫做Z相,作为转一圈的位置参考 (7) Zero reference: Output(also called Z phase)which serves as reference for the position during one rotation. ⑧开集输出:输出采川共发射极电路,并且集电极开路。 (8)Open collector output An output circuit having the emit ter of the transistor of the output circuit as common anc the collector of open type NPN NPN K ⑨长线驱动输出:输出电路兼容EA(电子工业协会) (9) Line driver output Output circuit in compliance with EIA RS-122A (Electric Industries Association)RS-422A (Some products are excepted from the standard. c out o out ⑩最大旋转速度:轴的旋转对机械允许的速度最大值 (10 Maximum rotation speed: The value indicating the max imum revolving speed mechanically permissible wit respect to the rotation of the shaft. 假 ①最大响应频率:轴的旋转对电气响应的最大频率(有时受① Maximum response frequency: Frequency showing th 最大转速限制)。 limit of electrical response with respect to the rotation tne shaft(Sometimes limited by the maximum permissibl rotation speed) ①2径向负载:轴的径向负载 (12 Radial load: A vertical load onto the shaft ①3推力负载:轴的轴向负载。 (13)Thrust load A longitudinal load onto the shaft ⑩轴类型:从旋转式编码器本身连接轴的轴结构。 (14) Shaft type A structure with a shaft projecting from th rotary encoder body. ⑩中空轴类型:轴中空,被测量部分的轴直接被插入来迮接。① Hollow shaft type: A shaft with a hole inside, into whic a shaft of the measured side is directly inserted for co ⑩UW信号:元刷马达的120度相位差3信号(电气角 16 UVW signal: Three signals of 120 phase difference for brushless motor. 240 W ①绝对编码器的备用电池:多回转绝对值编码器上用来提供 Battery backup absolute encoder: A multiturn absolu 给计数IC encoder with counter IC provided within it. ⑩3串行传输:传达许多数据信号系统以时差给电路的 Serial transmission A system of transmitting many da 输出线 signals with time differences to an output line of a circuit 27【AnD艾而特 1.保护构造的种类和各类命名 Types and Designations of protective structure 表1防止固体物进入的保护结构种类 Table 1 Types of Protective Structure against Entry of Solids 第1记号 保护等级 First Coding Protection Degree 3(半封闭型) 固体的末端直径2.5mm或不能进入甲面。 3( Semi totally-enclosed type Ends of solids 2.5mm or over in diameter do not enter inside 4(全封閉型) 固体的末端直径1.0mm或不进入里面。 4(Totally-enclosed type Ends of solids 1. 0mm or over in diameter do not enter inside 5(防尘型 编码器所定的动作及安全性阻止粉尘进入。 5(Dustproof type Dust that impairs the designed operation or safety of the rotary encoder do not enter inside 6(耐尘型) 粉尘不进入里面。 6(Dusttight type Dust particles do not enter inside. 表2对水侵入的保护结构的种类 Table 2 Types of Protective Stucture against Entry of Water 第2记号 保护等级 Second Coding Protection Degree 0(开放型) 不能防止水不进入。 o(Open type Not protected against entry of water. 2(防滴2型) 沿垂直15度以内下落水滴没有损害。 2(Drip-proof 2 type Subject to no harmful effects by waterdrops falling at angles 15 or less from vertical. 3(防雨型) 沿垂直60度以内下落水滴没有损害。 3(Rain-proof type Subject to no harmful effects by waterdrops falling at angles 60%or less from vertical 4(防喷雾型) 由任意方向喷雾都没有损害。 4(Spray-proof type, Subject to no harmful effects by water spray from any direction. 5(防喷射型) 由任意方向喷射都没有损害。 5( Jet-proof type Subject to no harmful effects by water jets from any direction 6(防水型) 由任何方向直接喷流的水都没有损害。 6(Water-proof type) Impervious to water in strong jets from any direction. ( Note 1) 7(防浸型) 规定的压力和时间浸没在水之下没有水进入 7(Immersion-proof type No water entering when immersed under water at specified pressure for specified time 注:耐水型意思是产品结构上不会让强水柱由任意方向进入,但 Note(1)"Water-proof"means a structure that does not allow the entry of 假 不代表结构允许在水下使用 water against strong water jets from any directions, but it does not mean a structure that allows use under water. 2.保护构造的命名 2. Designations of Protective Structure 编码器的防护结构的命名包括防护结构文字IP,第1 The designation of protective structure of a rotary 记号和第2记号次序。 encoder is comprised with IP meaning the protective structure. first characteristic numeral and second charac teristic numeral in this order 如果或第一代码或第二个代码不被指定,它必须由X In case either the first code or the second code is not 代表 specified, it must be represented by X. 例1|P40|P40 Characteristic letters 例2|P65 第2记号(开放型) Example 1 IP 40 P 40 Example 2 IP 65 2nd characteristic numeral 例3|P4X 第1记号(全闭型) 例4|PX5 Example 3 IP 4X 1st characteristic numeral Example 4 IPX5 (AnD艾而特28 换算表 CONVERSION TABLE 二进制总数 °(度) (分 (秒 Binary Bit Counts degree (min) (sec) 128 28125 168751012500 1.40625 84375506250 9 512 0.703125 42.1875253125 10 03515625 21.09375126563 2,0480.17578125 10.54687563281 12 40960.08789064 2552734375316.41 13 81920.0439453132.6367187515820 14 163840.0219726561.3183593757910 15 32,7680.0109863280.659179688 3955 16 65,5360.0054931640.329589844 1978 131,0720.0027465820.164794922 9. 18 262,1440.0013732910.082397461 4.94 19 2880.0006866460.041198 2. 20 1.0485760.003433230.0205993651.24 2,097,1520.0001716610.010299683 0.62 4,194,3040.0000858310.005149841 0.31 22 8388,6080.0000429150.002574921 0.15 24 16,777,2160.0000214580.001287460 33.5544320.00010290.000643730 0.04 67,1088640.0000053640000321865 0.019 134,217,7280.0000026820.000160933 0010 268435,456000001410.00080466 0.002 29 536,870,9120.0000006710.000040233 301,073,741,8240.0000003350.000020117 0.001 角度换算表 ANGLE CONVERSION TABLE 1弧度( radian)=57295780=34377468=206,26480 1°=0174533弧度( radian)=17.4533mrad 1=00290888弧度( radian)=290888mrad 1”=.00000484814弧度( radian)=00484814mrad. 角度概念 角度(视角)(视角d相当于人的标准身高17T 10.000秒(28度) 35m 秒(0.28度 350m 秒(0.028度 3.5km 10秒 35km(东京←→八王子)(饭田←→伊那 2秒 180km(东京←·饭田) 1秒 350km(东京←→京都) 0.6秒 东京←→八户) 0.5秒 650km(饭田←→八户 0.1秒 冲绳←→北海道稚内 5.00km(到达静止卫星的距离 角度 x距离 29【△DD艾而特 【实例截图】
【核心代码】
多摩川编码器说明书 串行信号接收芯片AU5561可 以解码Ts5647、 Ts5648、 Ts5667、 Ts5668、 Ts5669等 型号的编码器 ,可以提供 40到iiO位串并信号的转换 ,并且可以和1s/32位 CPU或 DsP总线接 口。AU5661N1,提 供中断信号与CPU同步 , 它也能在没有CPU的两种方式 (手动模式 )下读取编码 器数据 :lD3(单回转数据 ,多回转数据与报警
7S508 TS5170 O/S128series o/S85 series 产品类型 增量式 产品类型 增量式 incremental Incremental 电源电压 电源电压 Supply voltage DC+24V±20% Supply voltage DC+5V±5% 外径 128Imrn 85mm 分解能 25~5000C/T 分解能 9600~50,000C Resolution Resolution 输出方式 电压输出 otago Cutput 输出方式 长线驱动 Output for 推拉互补输出 Push pul Output Output form Line Drive 保护构造 P=57 保护构造 P-52 Protective construction Protective construction 质量 7 kg Max据置型,8 kg max/加载型 质量 1 kg Max Mass vass 用途: Application 用途: Application 制造钢铁生产线 Iron steel line ■交流伺服马达 AC servo motors 工程机械 Machine tools 造纸生产线 Paper Producing Line T55410 S5647755648 O/S90 Series SA56 Series 产品类型 增量式 产品类型 智能绝对式 Incremental Smart Abs 电源电压 DC+5V±5% 电源比压 Supply Voltage Supply Voltage 外径 56mm Size Size 分解能 00c0C/T,100,000G丌,12000T, 分解能 20or16oit多回转计数量16bt 器 Resolution 36000CcT,400,000c7,480,0007 Resolution (65,536转)合计6or32bt 输出方式 长线驱动 20 or 16bit/tum and 16bit/65, 536 Output form turns(total 36 or 32bit) 保护构造 输出方式 Protective construction Output form Line driver 质量 3kg Max 保护构造 开放构造 Protective construction Not Enclosed 用途: Application 0. 6kg Max 测量设备 Measuring Equipment 工程机械 Machine tools 用途: Application ■工程机械 Machine tools 机器人 Robots 机器人 Robots 计测机器 Measuring Instruments 高精度角度割出装置Hgh- accuracy Angular Indexing Equipment 半导体生产设备 Semiconductor manufacturing Equipment 7S5667N253 7S5667N650 SA100 Series SA135 Se eres 产品类型 智能绝对式 产品类型 智能绝对式 Smart Abs Smart Abs 电源电压 电源电压 DC+5V±5% DC45V±5% Supply voltage Supp y voltage 外径 135mm 100mm 分解能 17b转,16bt转总计3bt 分解能 17b转,16多转总计33bt Resolution 17cit/um and 1 6bit multitums Total 33 bit Resolution 7btturm and 16bit multiturn Total 33 bit 长线驱动 输出方式 长线驱动 输出方式 Output form Linc drivcr Line Driver 保护构造 保护构造 P-40 Protective construction Protective construction 质量 12 ka Max(不含引线) 质量 15 kg max(不含引线) Without cable) Mass (Without cable) 用途: Application 用途: Application 大功率马达 Large wattage motors 大功率马达 Large wattage motors 机器人 Robots 机器人 Robots 工程机械 Machine Tools 工程机械 Machine tools 树脂成形机 njection Machines 树脂成形机 njection Machines QAnD艾而特22 电梯专用编码器 ELEVATOR ENCODER 尺寸 mm Dimer sion mm TS5200N500 PCD4D o/H48Series hounding plate details 蝙码器安装面 Encocer mounting surtace 用途 特点 252M3 闪六角丝 APPLICATION FEATURES picket se: screw 在轴上痄荐尺寸 (Attached sions or shaft ●有齿、无齿电引机 ●易安装 Gear and gearless tractive motor Easy to attach除非特别说明,否则公券一律为=05 mnUnless otherwise specified tolerance is s+n5m 尺寸 mm Dimension mn TS5200N400 p35 O/H60Series 空」 用途 特点 APPLICATION FEATURES 器 有齿、无齿曳引机 易安装 雄明细图内六角手拧紧 Gear and gearless tractive motor Easy to attach 轴推荐尺寸 出除非特别说明,否则公差一律为±0.5 Ium Urless otherwise spccificd tolerance is+0:m 755208N1 e OlH100 series 式样 SPECIFICATIONS 135 ●输出方式:长线驱动、推拉互补、集电极开路、正余弦 =52 留投线表 CTION TABLE Output form: Line Driver, push Pull, open collector, Sincos 我色功能「引线频色。 ●电源电压 Supply voltage:5-15V ●分解能 resolution:1024、40965000、6000、8190、10000CT 当U儿 在轴上批荐只寸 抽璃址图、的 普属2警出PU 安装方式:各种各样 Attaching way: Various OH 分解能C丌 光电式 Optical 外径Size N。 TSLLLUNLI 增量型 中48mm Resolution 中6o 512 中空轴 Hollow Shalt 4100mm 1024 TS5208 编码器 Encoder Ts5213 翰出相 4096 TS5216 ABZ s5217 6 A, B, Z u, M,w Ts5233 7: A, B, ZFOF1F2, F3 6000 8192 TS5246 10000 TS5236 输出方式 C:开放电极 Open Co lecto 拉写补 Push pull 长线驱动 Line driver ⑧对于特殊情况,请联系我们 O For special cases, pleasc consult us. 23【AnD艾而特 连接方面的注意事项 NOTICE IN TRANSMITTING 1.怎样连接到电源 1. HOW TO CONNECT TO A POWER SUPPLY 应该通过单独的带屏蔽线的电源线进行连接,任何 Connection should be made using a plus and ground 不正确的连接方法或不合适的连接线都可能导致传 power line which is shielded within a single insulated cable. Incorrect connection or improper cables will cause 输噪音。 unwanted noise in transmission 编码器应该单独连接到电源,并且独立于编码器一 The encoder should be connected to the power supply 起作的电子设备,每样设备都应该使用独立的电 separate from the electric device that the encoder is 缆连接到电源。 operating. Each should be connected to the power supply using separate cables 而不要通过中间电子设备连接到电源。编码器和中 Do not connect the encoder thru the electric device to 间电子设备的地线之间仔在的阻抗会导致编码器和 the power supply. The potential difference between the 电源之间产生潜在的差异,这种差异将导致异常 ground levels of the encoder and the power supply will be produced by impedance of zero level bus within the electric device. This will cause malfunction. 编码器输出 Encoder Output 编码器输出 coder Output 电源 电了装置 电源④电子装置 Power Electric Supply 编码 Power Supply Electric device 掮码器 ′Bu 图-1好例子 图-2不可取例子 Fig 1 Favorable Sample Fig2. No Recommendable Sampl 2.地线应该尽可能的粗 2. GROUND LINE SHOULD BE AS THICK AS POSSIBLE Ii是电源旳输岀电流,Io是编码器流过地线的输 li for power supply current and lo for output signals of an 州燃 出信号,Re是接地线直流阻抗,Ⅵ为输出信号可 encoder will flow thru a ground line. In case of Re for DC resistance of the ground line, VL for the level of the output 表达如下 signals will be as follows VL=(o+li)·Re(V) =(o+i)·Re(V) ⅥL值不会超出接收器阈值电平Vt,Re要尽可能小 The value of vi should not exceed t of threshold level 因为当Ⅵ接近Ⅵ时,编码器对于外部噪音米说是脆 for a receiver. Re should be as small as possible since the encoder will be vulnerable to external noise when Vl 弱的。 is closer toⅥt. 对丁长距离信号传送,除了电源插头上的一条地线 In case of long-distance transmission, another ground 外,再加·条地线也是必要的。 line besides the ground line paired with the plus line may be necessary. 〖()AnD艾而特24 3.外壳和电路之间短接 3. SHORT BETWEEN CASE GROUND AND CIRCUIT GROUND 在喚音比较重的环境中,在编码器外壳地和电路地 In case of having noise more than 50V between case 之间的噪音信号可能会超过50V,编码器电路可能会 ground and circuit ground under noisy circumstances, an electric circuit for an encoder may not function normally. 出现功能异常,在这种情况下,我们建议将外壳和 In this case, the short-circuiting of case ground and cir 电路地短接。 cuit ground is recommendable 然而,有时侯由于传送距离过长,短接可能会产生一 However, in case that other adverse effects appear 些相反的效果,或者说根本不可能将其短接时,我们 because of a long transmitting distance when case and circuit ground for an encoder are short-circuited and in 建议将外壳和电路之间加接个几个微法的有较好的 case shorting them is impossible for some reason, it is 频率特性的电容,用米做过滤噪音的滤波器。 recommendable to provide, between case and circuit ground, a few micro farad condensers with better fre- uency characteristics used for a noise filter. 4.电源线有噪声的情况 4. IN CASE OF HAVING NOISE ON POWER LINE 电源应该通过一根完全被屏蔽好了的传输线提供给 Power should be supplied to an encoder thru a transmit- 编码器,这样就不会有喚音信号出现在电源线上。 ting line completely shielded so that no noise occurrs on power line 将屏蔽线接地以稳定信号 Stable potential should be maintained by grounding the hield 有必要加长屏蔽线,这样在编码器附近的传输线就 It is necessary to distribute lines so that a transmitting 不会被暴露在屏蔽线外面。 line should not be exposed from the shield near an encoder 删5编码带输出信号有尖峰的情况 5. IN CASE OF SPIKE WAVES BETWEEN OUTPUT SIGNALS FOR AN ENCODER 在尖峰脉冲出现的情况下,将由双绞线传送信号消 In case of spike waves as shown in fig 3, Spike waves 除尖峰脉冲。 shall be deleted by transmitting by twist pair shield line 尖峰信号 尖峰信号 图-3峰形波 图-3峰形波 Fig 3 spike waves Fig 3 spike waves 6.编码器盒的潜在安全措施 6. POTENTIAL STABILIZATION FOR AN ENCODER CASE 编码器盒必须被保持在稳定的电位状态。 An encoder case must be maintained in stable potential 5[AnD艾而特 传送距离 TRANSMITTING DISTANCE 在开放集电极的情况下! IN CASE OF OPEN COLLECTOR 传输距离在大约50m以内(12VDC上拉),20mA集电极 Transmission within a distance of about 50m(12V DC pull 电流将是允许的! up) and 20mA as collector current shall be allowable 在长距离传输的情况下,带光耦的接受电路在图4 In case of a long range transmission, receiving circuit with 适合消灭在传输线中的噪音! photo couplers in fig. 4 is suitable for eliminating noise in transmission 编码器 屏酸线 编码器 屏蔽线 Encoder Shield Cable Shield Cable ≤R R2 Dc输出 输出 Output 图-4Fig.4 图-4Fig.4 在长线驱动的情况下 IN CASE OF LINE DRIVER 26Ls31 26LS32 ( 编码器 Encoder/※传送距离1km以下 编码器 Encoder/※传送距离1m以下 Transfer distance 1km Max Transfer distance 1km max 双絞线屏蔽 双绞线屏蔽 Twisted Pair Shield cable Twisted Pair Shield Cable 图-5Fg.5 图-5Fig.5 在推拉互补的情况下! IN CASE OF COMPLIMENTARY 双绞线屏蔽 双绞线屏辙 Twisted Pair Shield Cable Twisted Pair Shield Cable A:2Sc3733 B: 2SA1 电源 Power Supply A2sC3733 电源 Power Supply B2SA1460 A这X GND XXXX GND 厂输出信号线 输出信号线 itput signal 编码器 Encoder L:负载 L编码器E L:负载 ncode L: Load 怎样使用编码器控制信号H0WT0 USE ENCODER G0 NTROL SIGNALS 反向输入 REVERSE INPUT 通过端了“”或‘L”输入可以改变编 4.7kg Encoder direction can be changed by 码器方向,CCW和CW之间切换成为可能。 输入 inputting Hor L to this terminal. 如果不需要改变方向,电路输入4.7K欢 In case of no necessity of changing 相对的电压为正5伏电压,或接地 direction wire this terminal to +5v thru 4.7K Q2 or ground to the terminal. 门集输入 GATE INPUT 在该端子输入"凵"低电平可以保持编码器的 Angle data for an encoder shall be held 角度数据(直到输入高电平将数据锁存) by inputting L to this terminal (Data shall be latched until H is 输入 putted) 数据输入门电路后,大约需10μs的时间rpt After inputting data to gate, about 10us 米锁存数据,因此这段时间过去后才能 is required to latch data. So data can be 刷新数据。 renewed after passing this elapsed time. 〖)AnD艾而特26 用语定义 DEFINITIONS 在本书中主要术语的定义如下 Definitions of principal terminology used in this catalog are as follows ①旋转式编码器:一种将轴旋转角度转化为数字信息的检测① Rotary encoder: a detector that converts the rotary dis. placement of the shaft into digital signal. ②增量型:根据轴旋转位移输出脉冲序列的类型 2)Incremental type The type that outputs a pulse train in accordance with the rotary displacement of the shaft. ③光电型:通过检测旋转轴上改变的光量来接收信号的类型, Optical type. The type that rece, due to is by detecting 在轴上附带了光电检测机构和光栅 the shaft, coming with an optical detecting mechanism and an optical lattice fixed to the shaft. ④磁性型:通过检测轴上旋转而改变的磁场来接收信号 4 Magnetic type The type that receives signals by detect- ing the change in the magnetic field due to the rotation of the shaft, coming with an magnetic detecting mechanism and a magnetic lattice fixed to the shaft ⑤2相输出:一种由A、B相输出信号组成的模式,其相位差为⑤2 phase output: A mode with two outputs called A phase /4周期。 ⑥6相输出:一种由A、B、Z相和U、V、W相组成的模式。 (66-phase output: A mode consisting of A, B Phase and Zero reference pulse commutation output of UWw signal ⑦参考0位:也叫做Z相,作为转一圈的位置参考 (7) Zero reference: Output(also called Z phase)which serves as reference for the position during one rotation. ⑧开集输出:输出采川共发射极电路,并且集电极开路。 (8)Open collector output An output circuit having the emit ter of the transistor of the output circuit as common anc the collector of open type NPN NPN K ⑨长线驱动输出:输出电路兼容EA(电子工业协会) (9) Line driver output Output circuit in compliance with EIA RS-122A (Electric Industries Association)RS-422A (Some products are excepted from the standard. c out o out ⑩最大旋转速度:轴的旋转对机械允许的速度最大值 (10 Maximum rotation speed: The value indicating the max imum revolving speed mechanically permissible wit respect to the rotation of the shaft. 假 ①最大响应频率:轴的旋转对电气响应的最大频率(有时受① Maximum response frequency: Frequency showing th 最大转速限制)。 limit of electrical response with respect to the rotation tne shaft(Sometimes limited by the maximum permissibl rotation speed) ①2径向负载:轴的径向负载 (12 Radial load: A vertical load onto the shaft ①3推力负载:轴的轴向负载。 (13)Thrust load A longitudinal load onto the shaft ⑩轴类型:从旋转式编码器本身连接轴的轴结构。 (14) Shaft type A structure with a shaft projecting from th rotary encoder body. ⑩中空轴类型:轴中空,被测量部分的轴直接被插入来迮接。① Hollow shaft type: A shaft with a hole inside, into whic a shaft of the measured side is directly inserted for co ⑩UW信号:元刷马达的120度相位差3信号(电气角 16 UVW signal: Three signals of 120 phase difference for brushless motor. 240 W ①绝对编码器的备用电池:多回转绝对值编码器上用来提供 Battery backup absolute encoder: A multiturn absolu 给计数IC encoder with counter IC provided within it. ⑩3串行传输:传达许多数据信号系统以时差给电路的 Serial transmission A system of transmitting many da 输出线 signals with time differences to an output line of a circuit 27【AnD艾而特 1.保护构造的种类和各类命名 Types and Designations of protective structure 表1防止固体物进入的保护结构种类 Table 1 Types of Protective Structure against Entry of Solids 第1记号 保护等级 First Coding Protection Degree 3(半封闭型) 固体的末端直径2.5mm或不能进入甲面。 3( Semi totally-enclosed type Ends of solids 2.5mm or over in diameter do not enter inside 4(全封閉型) 固体的末端直径1.0mm或不进入里面。 4(Totally-enclosed type Ends of solids 1. 0mm or over in diameter do not enter inside 5(防尘型 编码器所定的动作及安全性阻止粉尘进入。 5(Dustproof type Dust that impairs the designed operation or safety of the rotary encoder do not enter inside 6(耐尘型) 粉尘不进入里面。 6(Dusttight type Dust particles do not enter inside. 表2对水侵入的保护结构的种类 Table 2 Types of Protective Stucture against Entry of Water 第2记号 保护等级 Second Coding Protection Degree 0(开放型) 不能防止水不进入。 o(Open type Not protected against entry of water. 2(防滴2型) 沿垂直15度以内下落水滴没有损害。 2(Drip-proof 2 type Subject to no harmful effects by waterdrops falling at angles 15 or less from vertical. 3(防雨型) 沿垂直60度以内下落水滴没有损害。 3(Rain-proof type Subject to no harmful effects by waterdrops falling at angles 60%or less from vertical 4(防喷雾型) 由任意方向喷雾都没有损害。 4(Spray-proof type, Subject to no harmful effects by water spray from any direction. 5(防喷射型) 由任意方向喷射都没有损害。 5( Jet-proof type Subject to no harmful effects by water jets from any direction 6(防水型) 由任何方向直接喷流的水都没有损害。 6(Water-proof type) Impervious to water in strong jets from any direction. ( Note 1) 7(防浸型) 规定的压力和时间浸没在水之下没有水进入 7(Immersion-proof type No water entering when immersed under water at specified pressure for specified time 注:耐水型意思是产品结构上不会让强水柱由任意方向进入,但 Note(1)"Water-proof"means a structure that does not allow the entry of 假 不代表结构允许在水下使用 water against strong water jets from any directions, but it does not mean a structure that allows use under water. 2.保护构造的命名 2. Designations of Protective Structure 编码器的防护结构的命名包括防护结构文字IP,第1 The designation of protective structure of a rotary 记号和第2记号次序。 encoder is comprised with IP meaning the protective structure. first characteristic numeral and second charac teristic numeral in this order 如果或第一代码或第二个代码不被指定,它必须由X In case either the first code or the second code is not 代表 specified, it must be represented by X. 例1|P40|P40 Characteristic letters 例2|P65 第2记号(开放型) Example 1 IP 40 P 40 Example 2 IP 65 2nd characteristic numeral 例3|P4X 第1记号(全闭型) 例4|PX5 Example 3 IP 4X 1st characteristic numeral Example 4 IPX5 (AnD艾而特28 换算表 CONVERSION TABLE 二进制总数 °(度) (分 (秒 Binary Bit Counts degree (min) (sec) 128 28125 168751012500 1.40625 84375506250 9 512 0.703125 42.1875253125 10 03515625 21.09375126563 2,0480.17578125 10.54687563281 12 40960.08789064 2552734375316.41 13 81920.0439453132.6367187515820 14 163840.0219726561.3183593757910 15 32,7680.0109863280.659179688 3955 16 65,5360.0054931640.329589844 1978 131,0720.0027465820.164794922 9. 18 262,1440.0013732910.082397461 4.94 19 2880.0006866460.041198 2. 20 1.0485760.003433230.0205993651.24 2,097,1520.0001716610.010299683 0.62 4,194,3040.0000858310.005149841 0.31 22 8388,6080.0000429150.002574921 0.15 24 16,777,2160.0000214580.001287460 33.5544320.00010290.000643730 0.04 67,1088640.0000053640000321865 0.019 134,217,7280.0000026820.000160933 0010 268435,456000001410.00080466 0.002 29 536,870,9120.0000006710.000040233 301,073,741,8240.0000003350.000020117 0.001 角度换算表 ANGLE CONVERSION TABLE 1弧度( radian)=57295780=34377468=206,26480 1°=0174533弧度( radian)=17.4533mrad 1=00290888弧度( radian)=290888mrad 1”=.00000484814弧度( radian)=00484814mrad. 角度概念 角度(视角)(视角d相当于人的标准身高17T 10.000秒(28度) 35m 秒(0.28度 350m 秒(0.028度 3.5km 10秒 35km(东京←→八王子)(饭田←→伊那 2秒 180km(东京←·饭田) 1秒 350km(东京←→京都) 0.6秒 东京←→八户) 0.5秒 650km(饭田←→八户 0.1秒 冲绳←→北海道稚内 5.00km(到达静止卫星的距离 角度 x距离 29【△DD艾而特 【实例截图】
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