Harmonic Drive CHA - Options

631018854 12/2015 V01
3.3.10 Options
Position measuring system option EC
The CHA Hollow Shaft Servo Actuators Series are ideally suited for equipping with a single turn absolute measuring system that
can be connected directly to the actuator output.
The ECN113 single turn absolute encoder is connected to the actuator flange by means of a torsionally sti hollow shaft.
The encoder system is connected using a standard signal connector.
The evaluation of the compatibility of the measurement system must be checked
prior to commissioning. The measuring system contains electrostatically sensitive
components, please observe the ESD measures.
Table 63.1
Table 63.4
Illustration 63.3
Connector pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Signal
Up
Sensor
n.c n.c
GND
Sensor
n.c n.c Up CLOCK + CLOCK - GND
Inner
shield
B+ B- DATA + A+ A- DATA -
Connecting Cables
SIMODRIVE 6FX8002-2AD00-1xx0
SINAMICS S 120
(SMC20)
6FX8002-2CH00-1xx0
YukonDrive® Part no. 1010747 (3 m; other length on request)
Table 63.2
Encoder connector 17 / M23 x 1
Cable plug 17 / M23 x 1 / Part no. 270199
External diameter ca. 26 mm
Length ca. 60 mm
Ordering code Symbol Unit EC
Manufacturer's designation ECN 113
Protocol EnDat 2.2
Power supply
1)
U
b
VDC 5 ± 5%
Current consumption (max., without load)
1)
I mA 180
Incremental signals u
pp
V
ss
1
Signal form sinusoidal
Number of pulses n
1
SIN / COS 2048
Absolute position / revolution (motor side)
3)
8192
Accuracy
1)
arcsec ± 20
Resolution of the absolute value (output side) phi arcsec 158
Resolution (output side)
2)
phi arcsec 2.5 2.5 2.5 2.5 2.5 2.5
1)
Source: Manufacturer
2)
for interpolation with 8 bit
3)
increasing position values
- for rotation in clockwise direction, looking at the motor shaft
- for rotation in counter clockwise direction, looking at the output flange