beautypg.com

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

background image

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

Mail :

[email protected]

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