Chu9, Absolute single turn encoders, chu9 range, Canopen – BEI Sensors CHU9 Absolute Hollow Shaft Encoder User Manual
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CHU9
CANopen
ABSOLUTE SINGLE TURN ENCODERS, CHU9 RANGE
BEI Sensors SAS
Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
Tél
: +33 (0)3 88 20 80 80
Fax
: +33 (0)3 88 20 87 87
Web :
www.beisensors.com
ELECTRICAL CHARACTERISTICS
Power supply
5 – 30Vdc
Introduction
< 1 s
Consumption (without load)
< 50mA (at 24Vdc)
Accuracy
± ½ LSB (13 bits)
Programmable parameters
Resolution: defines the resolution per revolution (0 to 8 192),
Transmission speed : programmable from 10kBaud (1000m) to 1 Mbaud (40 m) ; value per default: 20 Kbaud,
Address: define the software address of the encoder on the bus (1 to 127, value by default: id = 1),
Direction : define the direction of count of the encoder,
RAX : defines the value of its preset position (non turning shaft),
CAM: Low and High Limits.
Communication modes
3 modes are available to interrogate the encoder :
POLLING mode: (Response to a RTR message): The position value is only given upon request (SDO mode),
CYCLIC mode: the encoder transmits its position in an asynchronous manner. The frequency of the transmission is
defined by the programmable cyclical timer register from 0 to 65 535 ms,
SYNCHRO mode: the encoder transmits its position on a synchronous demand by the master.
CANOPEN CONNECTION
1
2
3
4
5
6
7
8, 9, 11
10
12
Reserved
CAN LOW CAN GND
Reserved
Reserved
Reserved
CAN HIGH
Reserved
0V
+ 5/30Vdc
Pinout 3 (CAN GND) and 10 (0V) are connected together (intern the encoder).
Nota : Refer to the bus standards for the maximal derivation length.
ORDERING CODE
(Special versions upon request, for ex. special flanges/electronics/connections…)
Shaft
Power supply
Output stage
Code
Resolution
Connection
Connection
orientation
CHU9
30 :
30mm
Reduction
hubs
available
P :
5 to 30Vdc
BB :
CANopen
B:
Binary
13 :
8192 ppoints
per revolution
(2
13
)
BC:
M23
12 pinouts
clockwise
R :
radial
CHU9 _
30 //
P
BB
B //
13 //
BC
R
Made in France
Changes possible without further notice - Version 2.0