Electromagnetic CANopen multiturn rotary encoder Model TRN58 Data sheet No.: TRN 13872 AE
Date: 25.07.2016
TWK-ELEKTRONIK GmbH D-40041 Düsseldorf Tel. +49 211 96117-0 [email protected] 85 Postbox 10 50 63 Fax +49 211 637705 www.twk.de
Robust design for use in stationary and mobile machines, for industrial applications and automation projects
CANopen interface regarding CiA Encoder profile406,No.4.0.1
ProtectiontypeIP67(optionallyIP69k)
Play-freemeasurementgearZRS(option)
DesignRobust aluminium housing (wall thicknesses 3 mm) (optional-ly: stainless steel) - a common drive shaft (measurement axis) and ball bearing with Nilos ring - rotor with shaft, transmission and permanent magnet mounted in pre-chamber - sensor circuit consisting of ASICs with Hall elements and interface electronics in enclosed main chamber - registration of revo-lutions through absolute multiturn transmission - electrical connection via two connectors M12x1, Bus in, Bus out, 5-pin/ socket, A-coded.
FunctionThe CANopen interface is designed according to the CANopen Application Layer and Communication Profile, CiA Draft Stan-dard 301, according to the "Device Profile for Encoders CiA Draft Standard Proposal 406 Version 4.0.1" and the CANopen Layer Setting Services and Protocol (LSS), CiA DSP 305.In addition to the position signal, a speed signal is availa-ble for each node. The gate time for registering the speed signal is defined as 1000 ms as standard. 14-bit position data are used for calculating the speed signal, and sliding averaging of the speed signal is performed.Depending on use case, a play-free measurement gear can be mounted on the rotary encoders.The technical data for the play-free measurement gears are according to data sheet ZRS 11877.
http://twk.de/data/pdf/11877_e0.pdf
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 2 of 14 Document No. TRN 13872 AE
Technical data
Electrical data/nodes Sensor system: ASICs with Hall elements Accuracy: ± 0.2% (with reference to 360°) Reproducibility: ± 0.02% (with reference to 360°) Temperature drift: < 0.1% (with reference to 360° over the entire temperature range) Operating voltage range: + 9 VDC to + 36 VDC Power consumption: < 2 W Switch-on current: < 500 mA Resolution: 4096 steps / 360°
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 3 of 14 Document No. TRN 13872 AE
CANopen features
CANopen features NMT master: No NMT slave: Yes Maximum boot-up: No Minimum boot-up: Yes COB ID distribution: Default, SDO Node ID distribution: Via Index 2000 or LSS No. of PDOs: 2 Tx PDO modes: Sync, async, cyclic, acyclic Variable PDO mapping: No Emergency message: Yes Heartbeat: Yes No. of SDOs: 1 Rx / 1 Tx Device profile: CiA DSP 406 version 4.0.1
The details of the profile are described exhaustively in the NOC 13100 user manual.
Principle circuit diagram
Singleturnsampling
Multiturnsampling
SPI
SPI
+5VGND
Position-controller
Maincontroller
UART
Reset
Netzworkregulator
Digitalisolator
CANdriver
Supply- Switching regulator- Filtering- Polarity reversal
Reset
+5V
DC/DCconverter
+3,3VGND
GND
+5V
+3,3VGND
GND
GND
+5V
GND
+5V*
+5V +5V*
GND*
CAN
CAN GND
CANL
CANH
-UB
+UBGND
+5VGND
+3,3V
GND*
GND
+5VNetzworkregulator
http://twk.de/data/pdf/13100_e0.pdf
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 4 of 14 Document No. TRN 13872 AE
DataprofileCANopenPDO1/PDO2
Connectorpindiagram,designM12x1(viewofconnectorside)
Socket, 5-pin,A-coded
Pin, 5-pin,A-coded
1
4
2
3
5
2
3
1
4
5
OutputlevelaccordingtoISO/DIS11898
t
3.5 CAN_H
CAN_L
2.5
1.5
Recessive Dominant Recessive1) With common mode voltage = 0 V
Bus
leve
l / V
1)
5
1
23
4
0
Busactivation,outputlevel,connectorpindiagramsanddataprofile
PDO 1 / PDO 2
157310 2 54 6 8 9 10 11 12 13 14Data Byte 0
LSB
Data Byte 1 Data Byte 2 Data Byte 316 241817 2019 2221 23 282625 27 3029 31 60 1 2 3 4 5
Data Byte 47
MSB0
Data Byte 58 109 141211 13 15
LSB MSB0 0 0 0 0 0 0
velocity valuedata position
BusactivationaccordingtoISO/DIS11898
* *
CAN_H
CAN_L
CAN_H
CAN_L
CAN-Bus
CA
Nop
en-
Sub
scrib
er
Enc
oder
TR
NN
ode
1
Termination resistance (120 )*
Enc
oder
TR
NN
ode
2
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 5 of 14 Document No. TRN 13872 AE
Connector assignment and versions of galvanic separation
Note:TherecommendedversionisV1withfullgalvanicseparation.ThisoffersmaximumEMCresistance,maximumCANopendatatransfersecurityandthusmaximumoperatingsafety.VersionsV2andV3arespecialversionswhichmustbecompatiblewiththestructure(topology)oftheCANopenbussysteminthecustomerapplication(→controlsystemandotherCANopensubscribers).Operatingsafetyordatatransfersecuritymayotherwisebeaffected.
Forthefollowingdescriptionandpictorialsisvalid:Viewed looking at the PIN side of the connector installed in the TRN.
PIN Function for standard version1 CAN GND2 Operating voltage + UB3 Operating voltage - UB4 CAN_H5 CAN_Lfemale
12
34 5
253 1
4
PIN Function for standard version1 Screen (Cable / housing)2 Operating voltage + UB3 Operating voltage - UB and CAN_GND4 CAN_H5 CAN_L
male
V1:CAN_GNDandUBgalvanicallyseparated(ǂ).Screening/housinggalvanicallyseparated(ǂ)This version is recommended and provides complete galvanic separation. Power supply and CAN_GND is galvanically separated. The housing and the screening of the cable is galvanically separated as well. The screening of the cable comes to the housing of the TRN via the housing of the mating plug.
V2:CAN_GNDandUB notgalvanicallyseparated(=).Screening/housinggalvanicallyseparated(ǂ)This version provides partly galvanic separation. Power supply and CAN_GND are not galvanically separated. The housing and the screening of the cable are galvanically separated from power supply and CAN_GND. The screening of the cable comes to the housing of the TRN via the housing of the mating plug and/or Pin 1 of the connector.
female
12
34 5
253 1
4
male
Exampleisvalidforstandardversion
Attention:Thedescriptionofthedifferentversionsofgalvanicseparation,V1toV3,refersonlytotherelationshipsoftheindividualpotentials(-UB,CAN_GNDandhousing/shield)tooneanother.I.e.whethertheyaregalvanicallyconnectedornot.Theconnectionplugpinassignmentsshownbelowareindependentofthisandonlydescribethestandardpinassignment.Othervariantsmayrevealadifferentpinassignment.Theconnectionassignment(TYxxxx)whichisenclosedwitheachdeviceorcanberequestedmustalwaysbeobserved.
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 6 of 14 Document No. TRN 13872 AE
V3:CAN_GNDandUB notgalvanicallyseparated(=).Screening/housingnotgalvanicallyseparated(=)This version provides no galvanic separation. Power supply and CAN_GND are not galvanically separated. The housing and the screening of the cable are not galvanically separated from power supply and CAN_GND. The screening of the cable comes to the housing of the TRN via the housing of the mating plug and/or Pin 1 of the connector.
PIN Function for standard version1 Screen (Cable / housing) - shorted to pin 3 -2 Operating voltage + UB
3 Operating voltage - UB and CAN_GND- shorted to pin 1 -4 CAN_H5 CAN_L
12
34 5
253 1
4
malefemale
Connector assignment and versions of galvanic separation Exampleisvalidforstandardversion
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 7 of 14 Document No. TRN 13872 AE
Scope of delivery A connection assignment is enclosed with each device. The EDS file, data sheet and manual are available at www.twk.de
Order number
TRN 58 KZ A 4096 R 4096 C2 S V1 N 01
01 Electrical and mechanical variants*
NOutput:CANopen
V1V2V3
Galvanicseparationǂ:-VS ǂ CAN_GND ǂ screening/housing →Recommended-VS = CAN_GND ǂ screening/housing-VS = CAN_GND = screening/housing
STKL
Electrical connections:Device connector, radial, M12x1, A-coded, pin, for sensors 1, 2Device connector, axial, M12x1, A-coded, pin, for sensors 1, 2Cable - option (2 x 1 m, radial)Cable - option (2 x 1 m, axial)Other cable lengths on request
C2Profile: CANopen according to CiA, DS 406 revision 4.0.1
4096
Measuring rangeRevolutions
ROutput code:Binary
4096 8192
Resolution:Steps / 360°12-bit13-bit
AS
Housing material:AluminiumStainless steel(1.4305, optionally 1.4404)
KKPKZSNS
Flange type:Clamped flange, shaft 10 mm - with flattened areaClamped flange, shaft 10 mm - with feather keyClamped flange, shaft for measurement gear ZRSSynchroniser flange, clamped shaft, 12 mm inside diameter - with grooveSynchroniser flange, shaft 6 mm
58Design form:Housing diameter Ø 58 mm
TRNModel series: TRN multiturn rotary encoder with CANopen interface
-
* The basic versions according to the data sheet bear the number 01. Deviations are identified with a variant number and are documented in the factory.
http://twk.de
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 8 of 14 Document No. TRN 13872 AE
Installationdrawing
Dimensions in mm
ModelTRN-Kwithshaft10mm-withflattenedarea
36
85 ±0.5
48 ±0.1
120°
M4x9
NILOS-ring
10
36f7
ø58
-0.1
ø
53-0
.1ø
Position coding pinand coding groove
ca.75
34ca
.
Sensor connector M125-pole pins, A-codedaligned
9-0
.1
10f7
ø
30 ±0.5
18
S1 S2
Sensor connector M125-pole socket, A-codedaligned
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 9 of 14 Document No. TRN 13872 AE
Installationdrawing
Dimensions in mm
ModelTRN-KPwithshaft10mm-withfeatherkey
36
85 ±0.5
48 ±0.1
120°
M4x9
NILOS-ring
10
36f7
ø58
-0.1
ø
53-0
.1ø
Position coding pinand coding groove
ca.75
34ca
.
Sensor connector M125-pole pins, A-codedaligned
30 ±0.5
S1 S2
10f7
ø
A
EINZELHEIT A2:1
8
3 N9Groove for feather key DIN 6885 A 3x3x10
Sensor connector M125-pole socket, A-codedaligned
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 10 of 14 Document No. TRN 13872 AE
Installationdrawing
Dimensions in mm
ModelTRN-KZwithshaftformeasurementgear
48 ±0.1
M4x9
NILOS-ring
58-0
.1ø
53-0
.1ø
Position coding pinand coding groove
Sensor connector M125-pole pins, A-codedaligned
S1 S2
Sensor connector M125-pole socket, A-codedaligned
63
85 ±0.536 ±0.5
17ø
11-0
.1
12 f6ø10.4 -0.1ø
34ca
.
10 ca.75
120°
36f7
ø
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 11 of 14 Document No. TRN 13872 AE
Installationdrawing
Dimensions in mm
ModelTRN-SNwithclampedshaft,12mminsidediameter-withgroove
3
42 ±0.1
M4x7
NILOS-ring
Position coding pinand coding groove
34ca
.
Sensor connector M125-pole pins, A-codedaligned
80ca.
6
18.5 ±0.5 91 ±0.5
50ø
4
5
AA
Section A-A
12H
7ø
15h7
ø
16.2
S1 S2
50f7
ø58
-0.3
ø
Sensor connector M125-pole socket, A-codedaligned
120°
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 12 of 14 Document No. TRN 13872 AE
Installationdrawing
Dimensions in mm
ModelTRN-Swithshaft6mm
3
42 ±0.1
M4x7
NILOS-ring
Position coding pinand coding groove
34ca
.
Sensor connector M125-pole pins, A-codedaligned
80ca.
6
91 ±0.5
50ø
4
14 ±0.5
50f7
ø58
-0.1
ø
6f7
øS1 S2
Sensor connector M125-pole socket, A-codedaligned
120°
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 13 of 14 Document No. TRN 13872 AE
Accessories
Play-freefoldingbellowscouplingBKK32/x-yx and y: hole diameter for shaft mounting
See data sheet BKK 11840
Play-freeclampcouplingKK14S/x-y(withoutgroove)x and y: hole diameter for shaft mounting
See data shee KK 12301
Play-freeclampcouplingKK14N/x-y(withgroove)x and y: hole diameter for shaft mounting
with groove for feather key according to DIN 6885 page 1 – JS9.See data sheet KK 12301
KL66-2-SFastening clamps for rotary encoder installation.See data sheet MZ 10111
ZMS58 Torque support/stator coupling. Can be used as rotary en-coder bracket for shaft version 'clamped shaft' to compen-sate drive shaft radial and axial play.See data sheet ZMS 12939
http://twk.de/data/pdf/11840_e0.pdfhttp://twk.de/data/pdf/12301_e0.pdfhttp://twk.de/data/pdf/12301_e0.pdfhttp://twk.de/data/pdf/10111_e0.pdfhttp://twk.de/data/pdf/12939_e0.pdf
Electromagnetic rotary encoder TRN58
Date: 25.07.2016 Page 14 of 14 Document No. TRN 13872 AE
'Play-compensating measurement gear' ZRS can be used for mechanically driving the rotary encoder shaft without play on a slewing ring/toothed rack. Different modules and numbers of teeth are available. ZRS material: polyamide. See also data sheet ZRS 11877. The mechanical connection necessitates shaft design 'KZ', see order number.
Installation recommendation: tighten bolt M6x12 to a torque of 6 Nm and secure with Loctite (medium adhesive strength).
10+1
20+1
12 H9
37O
5+0
.1
Play-compensating measurement gear ZRS (SubjecttoTWKutilitymodelprotection)
* Other values on request
** Please contact our technical support to select the required measuring gear.
Order code number
ZRS 12 10 A 01
A 01Variants **:Standard
10Teeth:No. of ZRS teeth *
12 Module:5 to 24 *
ZRS Model:toothed gear, play-compensating model
- - -Washer DIN 9021
13x37x3, VA
Toothed gear
Washer DIN 902110,5x30x2,5, VA
Washer DIN 73496,4x17x3, VA
Lock washerS6, VA
Bolt DIN 912M6x12, VA
http://twk.de/data/pdf/11877_e0.pdf