Tcw4 – BEI Sensors TCW4 User Manual
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TCW4
PRELIMINARY - MAGNETIC CANopen ABSOLUTE MULTI TURN MODULAR SENSORS, TCW4 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 %
Nunmber 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, CABLE + DB9 CONNECTOR
N.C.
CAN
LOW
CAN
GND /
0V
N.C.
N.C.
0V
CAN
HIGH
N.C.
5/30Vdc Ground
BB
PVC Cable
+ DB9
1
2
3
4
5
6
7
8
9
General
shielding
Nota : Refer to the bus standards for the maximal derivation length.
TCW4 ORDERING REFERENCE
(Contact the factory for special versions , ex : dimensions, connections…)
Mechanics
Supply
Output stage
Code
Resolution
Connection
Orientation
TCW4 :
Magnetic
Absolute
multi-turn
encoder
00 :
modular
P :
5 to 30Vdc
BB :
CANopen
B :
Binary
12B16 :
12 x 16 bits
BB :
PVC Cable +
DB9
CANopen
R005 :
Radial
0.5m cable
with SUBD9
Ex: TCW4_
00 //
P
BB
B //
12B16 //
BB
R005
Made in France
Changes possible without further notice 100716
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9, rue de Copenhague
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Tél
: +33 (0)3 88 20 80 80
Fax
: +33 (0)3 88 20 87 87
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