1.2.6.2.3.2.4 Tilt angle
Tilting Circulo around the rotation axis of the motor and gearbox does not create any additional error (other
than affecting the zero position offset).
1.2.6.2.3.2.5 Mounting eccentricity (rotation axis offset)
This is the most crucial error source and hence should be as minimal as possible. The best way to cope with it
is to perform a calibration with a high accuracy reference encoder. The built-in auto-calibration procedure
usually can’t fully remove this error. If this error is not removed by calibration, a periodic once-a-revolution
distortion will be present in velocity and position data. This is usually known as the wide angle error or the
long wave error.
1.2.6.2.3.3 Selecting and attaching a battery for Multi-Turn
The battery for Multi-Turn must be placed separately, there is no dedicated space for it in Circulo. The pins for
the battery are incorporated into the connector of Encoder 1.
1.2.6.2.3.3.1 Suitable encoder batteries
Primary cells with a nominal voltage of 3.3 V - 5,5 V are required as the battery voltage must always stay above
3.0 V during operation. Such batteries are available for moderate as well as for extended temperature range
(e.g. 125 °C). Suitable cells are mainly based on lithium thionyl chloride (LiSOCL2). They feature high energy
density, high output voltage stability and operating life up to 25 years. The self-discharge per year is typically in
the range of 1 %.
Form
Factor
Description
1/2 AA A cylindrical cell with 25.2 mm length and 14.5 mm diameter. Nominal capacities up to 1.2 Ah
are available.
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