Thk5, Absolute multi-turn encoders, thk5 range, Canopen – BEI Sensors THK5 User Manual
Page 2: Electrical data, Programmable parameters, Communication modes, Canopen connection – b7 – m12, Ordering code
THK5
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
CANopen
ABSOLUTE MULTI-TURN ENCODERS, THK5 RANGE
ELECTRICAL DATA
Power supply
5-30Vdc
Sampling rate*
1 kHz
Comsumption without load
< 40mA (at 24Vdc)
Accuracy
± 0.3 %
Resolution in the turn
12 bits
Repeatability
± 0.1 %
Number of turns
16 bits max.
Introduction
< 1s
Total resolution
Up to 28 bits
Refresh rate
< 400µs
* Nota : Internal data refresh rate
PROGRAMMABLE PARAMETERS
Resolution: defines the resolution per revolution (0 à 4 096).
Transmission speed : programmable from 10kBaud (1 000m) to 1 Mbaud (25 m) ; value per default : 20 Kbaud.
Address : defines the software address of the encoder on the bus (1 à 127, Value per default : id = 1).
Direction : defines the direction of count of the encoder.
RAX : define the value of the current position (stationnary shaft).
Cames : high and low limits.
COMMUNICATION MODES
Encoder configuration : Reading/Writing of the encoder objects dictionnary (SDO mode).
3 modes are available to interrogate the encoder position/speed :
CYCLIC mode : the encoder transmits its position in an asynchronous manner. The frequency of the transmission is defined by the
programmable cyclic timer register from 0 to 65 535 ms,
SYNCHRO mode : the encoder transmits its position on a synchronous demand by the master.
POOLING mode (Answer to a RTR signal) : the encoder only answers to a request.
CANOPEN CONNECTION – B7 – M12
Type
Description
0V
+ Vcc
CAN GND /
0V
CAN HIGH
CAN LOW
Ground
B7
M12
5 pinouts
1
2
3
4
5
Connector
body
Nota :
- Refer to the bus standards for the maximal derivation length.
- 0V and CAN GND are connected together.
ORDERING CODE
(Special versions upon request, for ex. special flanges/electronics/connections…)
Shaft
Power supply
Output
stages
Code
Resolution
Nb of turns
Connection
Connection
orientation
THK5
14 :
14mm
Reduction
hub
available
15mm option
P :
5 to 30Vdc
BB :
CANopen
B:
Binary
12 :
4096 points
per turn (2
12
)
B16 :
65 536 turns
(2
16
)
B7:
M12
R :
radial
THK5 _
14 //
P
BB
B //
12
B16 //
B7
R
Made in France
Changes possible without further notice - Version 101115