Rockwell Automation 842HR Sine Cosine/Serial Encoders - Manual

1
Installation Instructions
842HR Sine Cosine/Serial Encoders
Size 25, High Resolution Auxiliary Servo Feedback
IMPORTANT: SAVE THESE INSTRUCTIONS FOR FUTURE USE.
Description
Bulletin 842HR is a 15-bit serial/sine cosine encoder. Targeted for
high performance digital servo drive systems that require
absolute feedback for position control and high resolution
incremental feedback for speed control.
Rockwell Automation’s sine cosine high performance encoders
provide commutation, speed regulation and position control all
in one device. Absolute position values of up to 15 bit combined
with incremental resolution up to 2 million counts per turn.
Features
• Absolute feedback for position control
• High resolution Incremental feedback for speed control
• Commutation
• Sine cosine differential interface
• Digital bi-directional RS-485 interface
• Compatible with Hiperface® interface
• Internal diagnostic functions
Benefits
• High performance motor or auxiliary feedback
• High accuracy and resolution
• Low bandwidth
• Maximum noise immunity
• One interface for all servo motor applications
• Standalone housing (suitable for mounting external to a servo
motor
Hiperface is a registered trademark of SICK Stegmann Gmb H
ATTENTION: Rockwell Automation Bulletin
2090 feedback cables provide connections
for both 5…12V and 7…12V encoder power
supplies. Only one of these connections
should be used. Simultaneous connection
to different power supplies may result in
damage to the servo drive and encoders.
Specifications
 Inrush current with 5…12 V supply can be as high as 1 Amp
 If applying the electronic type label, in connection with numeric controllers, attention
should be paid to Patent EP 425 912 B 2; Application of the electronic type label in
connection with speed regulation is exempt.
 Condensation not permissible
 To DIN EN 60068-2-27
 To DIN EN 60068-2-6
 With mating connector inserted
Certifications CE Marked for all applicable directives
Electrical
# of sine/cosine cycles per revolution 1,024
Code format for absolute position value Binary
Code direction with clockwise rotation viewed
from shaft end
Increasing
# of steps per revolution
(Single 842HR-S)
32,768
# of revolutions (Multi 842HR-M) 4,096
Error limits for the digital absolute value via RS
485
± 90 angular seconds
Error limits in evaluating the 1,024 signals,
integral non-linearity
± 45 angular seconds
Non-linearity within a sine/cosine period,
differential non-linearity
± 7 angular seconds
Output frequency for sine/cosine signals 0…200 kHz
Operating voltage range 7…12V; 5…12V
Max. operating current, no load
5…12V Supply
7…12V Supply
180 mA
80 mA
Available memory on EEPROM 128 bytes
Interface signals
Process data channel = SIN,
REFSIN, COS, REFCOS
Parameter channel = RS 485
Analog, differential
Digital
Mechanical
Max. angular acceleration 5 x 10 5 rad/sec 2
Max. operating speed 6,000 RPM
Operating torque, max. 3.5 oz-in
Starting torque, max. 5 oz-in
Shaft loading Radial 35 lb; Axial 40 lb
Life of ball bearings 3.6 x 10 9 rotations
Environmental
Housing Aluminum
Operating Temperature—C (F) -20…+85° (-4…185°)
Storage Temperature—C (F) -30…+90° (-22…194°)
Humidity  90%
Shock  30 g/11 ms
Vibration  20 g/10…2 KHz
Protection  IP66 (IEC 60529)
Approximate Weight 481 g (17 oz)
EMC
DIN EN 61000-6-2
DIN 6100-6-3