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Linear and angular

encoders

fo r CNC Machines and High Accuracy Applica t i o ns

Linear, angular and rotary

encoders

Over 30 years of continuous evolution

Fagor Automation has been manufacturing high quality linear and rotary encoders using precision optical technology for more than 30 years. Over the years Fagor has created, developed and patented systems, components and technologies that allow us to offer best quality and features over the complete range of product utilizing innovative production methods. Hence making Fagor Automation the most efcient alternative in the world of feedback systems.

Modern facilities and innovative processes


In order to ensure quality and reliability in all its products Fagor Automation utilizes the most advanced technology and testing and manufacturing facilities. From centralized computer control temperature monitoring, cleanliness and relative humidity control, a must for the feedback system manufacturing process, to laboratories for climate, vibration and EMC testing to certify the designs.

With state-of-the-art technology


Fagor Automations commitment to this technology and quality is evident by creation of Aotek in 2002, a dedicated research center providing various technological breakthroughs. This investment has resulted in large number of patents and customized solutions in electrical, optical and mechanical elds.

FL Reective scanning method

Fringe scanning

The most reliable alternative


Fagor Automation develops with maximum professionalism the three cornerstones in encoder design: optical design, electronic design and mechanical design that result in a stateof-the-art product.

Optical design
Leader in measurement technologies, Fagor Automation uses
LED Analyzer Linear encoder Projected light

transmissive and reective optics in its range of encoders.


Photodiodes

With new scanning techniques such as single eld and threephase scanning that provide high quality signals that minimize interpolation errors.

Electronic design
Fagor Automation uses latest generation integrated electronic components in their design hence achieving accurate signal optimization at high speeds and nano resolution.

Mechanical design
Fagor Automation designs and manufactures the most innovative and reliable measuring systems using its advanced mechanical designs. These designs using titanium and stainless steel materials provide the encoders with optimum robustness ensuring best performance in machine tool applications.

Thermal performance
When designing the encoders Fagor Automation has taken into account the effect of temperature change on their performance. Most machine shops do not operate in temperature controlled environment hence affecting the accuracy of nished part. Using the TDMS system, Thermal Determined Mounting System which controls expansion/ contraction, Fagor linear encoders can deliver consistent accuracy and repeatability. For linear encoders more than three meters long, Fagor guarantees a thermal behavior identical to that of the machine surface it is mounted on thanks to the special mounting system at the end of the linear encoders.

Thermal Determined Mounting System (TDMS)

The TDMS system is only available on G and S series linear encoders.

Quality
Accuracy certificate
Every single Fagor encoder is subjected to an extensive nal accuracy check. This control is carried out on a computerized measuring bench equipped with a laser interferometer located inside a climate controlled chamber at 20 C. The resulting nal accuracy graph is supplied with every Fagor encoder.

The quality of the measurement is mainly determined by:


Etching quality The quality of the scanning process The quality of the electronics that processes the signals

ABSOLUTE
Technology ..................................................................................................................... 10 Signals .................................................................................................................................... 12
Range
. .....................................................................................................................................

14

Linear
LA series ...................................................................................................................... 16 GA series ..................................................................................................................... 18 SA series ....................................................................................................................... 20 SVA series ............................................................................................................... 22

Angular and rotary


HA-D200 series .......................................................................................... 24 HA-D90 series ................................................................................................ 25 SA-D170 series ........................................................................................... 26 SA-D90 series ................................................................................................. 27 HAX series ............................................................................................................... 28

Cables + extension cables ............................................................................. 30

INCREMENTAL
Technology ...................................................................................................................... 32 Signals ..................................................................................................................................... 34
Range . ...................................................................................................................................... 36

Linear
L series .............................................................................................................................. 38 G series ............................................................................................................................ 40 S series ............................................................................................................................. 42 SV series . ..................................................................................................................... 44

Angular and rotary


H-D200 series ................................................................................................ 46 H-D90 series ...................................................................................................... 47 D-D170 series ................................................................................................ 48 S1024-D90 series ............................................................................... 49 S-D90 series ....................................................................................................... 50 H series ............................................................................................................................ 52 S series ............................................................................................................................. 52

Cables + extension cables ............................................................................. 54

Accessories ....................................................................................................................... 56

A B S O L U T E

Technology
The absolute measurement system is a direct digital measure of machine position. It is fast, accurate and does not require homing of the machine. The position value is available from the moment the machine is turned on and may be requested by the connected device (CNC) at any time.
The absolute encoders provide direct measure of machine position without using any intermediate device. The positioning errors originating from machine mechanics are minimized as the encoder is directly mounted to the machine surface and the guide ways. The encoder sends the real machine movement data to the CNC and mechanical errors caused due to thermal behavior of the machine, pitch error compensation and backlash etc. are minimized.

Enclosed design
The robust aluminum prole encasing the graduated glass provides the primary protection. The sealing lips provides protection against contaminants and liquids as the reader head travels along the prole. The reader head movement along the graduated glass provides a perfectly balanced system accurately capturing the machine movement. The reader heard travels on precision bearing with minimum contact with the prole hence minimizing the friction. The optional air inlet at both ends of the encoder and at the reader head provides increased protection levels against contaminants and liquids.

Linear encoders
Fagor Automation uses two measuring methods in their absolute linear encoders:  Graduated glass: Linear encoders with a measuring length of up to 3 040 mm use optical transmission. The light from the LED goes through a graduated glass and a reticule before reaching the receiving photo diodes. The period of the generated electrical signals is the same as the graduation pitch.  Graduated steel: Linear encoders with a measuring length over 3040 mm use the autoimage principle by means of diffuse light reected on the graduated steel tape. The reading system consists of one LED, as the light source of the linear encoder; a mesh that makes the image and a monolithic photo detector element in the plane of the image specially designed and patented by Fagor Automation. Both measuring methods have two different etchings: Incremental graduation: Used to generate square incremental signals for systems that use digital position input and are counted internally by the reader head. Alternatively 1 Vpp analog signal is also produced based on the system requirement. Absolute graduation: It is a unique binary code which is imprinted along the measuring length of encoder. Fagor encoders calculate the absolute position by reading the unique binary code using a high precision optical sensor.

Graduated glass encoder


Incremental LED Absolute LED

incremental graduation absolute graduation cursor absolute sensor

reader head

absolute digital output

reticule

CNC /PC / Drive controller incremental analog output

glass encoder

receiving photo-diodes

Graduated steel encoder


absolute sensor

absolute LED incremental LED

incremental sensor

absolute digital output reader head

steel encoder incremental graduation absolute graduation incremental analog output

CNC /PC / Drive controller

10

Graduated glass /steel tape Cursor Thermal Determined Mounting System (TDMS) Aluminum prole Sealing lips

Reader head

Air intake at both ends

Air intake on the reader head

Graduated glass disk


receiving photo-diodes reticule convex at lenses incremental LED

Angular and rotary encoders


Angular encoders are used as angular movement sensors on machines that require high resolution and high accuracy. Fagor angular encoders reach 23 and 27-bit angular resolution equivalent to 8 388 608 and 134 217 728 positions respectively and accuracy levels of 5, 2.5, 2 and 1 depending on the model. In them, the graduated disk of the measuring system is attached directly to the shaft. They have bearings and couplings that serve as guide and adjustment. Couplings, besides minimizing the static and dynamic deviations, compensate for axial movements of the shaft providing easier mounting, smaller size and the possibility of hollow shafts. Fagor Automation uses the graduated glass measuring method in their absolute angular and rotary encoders. The measurement is based on the pitch determined by the number of pulses/turn. Like graduated glass linear encoders, they are based on optical transmission.

absolute sensor

absolute LED

incremental graduation absolute graduation

graduated glass disk

absolute graduation

incremental graduation

This measuring method has two different graduations: An incremental one and an absolute one, like linear encoders as described in the previous page.

11

A B S O L U T E

Electrical output

signals

They are dened according to the communication protocol. Protocols are specic communication languages used by linear or angular encoders to communicate with the machine controller (CNC, drive, PLC, etc.). There are different communication protocols depending on the CNC manufacturer. Fagor Automation offers absolute encoders with different communication protocols compatible with the main CNC manufacturers on the market such as FAGOR, FANUC, SIEMENS, MITSUBISHI, PANASONIC, etc.

absolute
Clock frequency
t1 1 T 2 3 n-1 n t2 A

1 Vpp differential

V1 V2

Vpp

T=360 B Vpp

MSB

LSB

FAGOR systems
These systems synchronize the SSI interface with the sinusoidal 1 Vpp signals. Once the absolute position has been obtained through the SSI interface, the encoders keep operating with incremental 1 Vpp signals. ABSOLUTE signals Transmission SSI synchronous serial transfer via RS 485 Levels EIA RS 485 Clock frequency 100 kHz - 500 kHz Max. bit (n) 32 T 1 s + 10 s > 1 s t1 t2 20 s - 35 s SSI Binary Parity No 1 Vpp DIFFERENTIAL signals Signals VApp VBpp DC offset Signal period Supply V Max. cable length A, B centered: |V1-V2| / 2 Vpp A&B relationship VApp / VBpp A&B phase shift A, /A, B, /B 1 V +20%, -40% 1 V +20%, -40% 2.5 V 0.5 V 40 m 5 V 10% 150 meters < 0.065 0.81.25 9010

12

SIEMENS systems
These systems synchronize the SSI interface with sinusoidal 1 Vpp signals. Once the absolute position has been obtained through the SSI interface, the encoders keep operating with incremental 1 Vpp signals. These encoders are only valid to connect to SME 25 or SMC 20 modules of the Solution Line family. ABSOLUTE signals Transmission SSI synchronous serial transfer via RS 485 Levels EIA RS 485 Clock frequency 100 kHz - 500 kHz Max. bit (n) 26 T 1 s + 10 s > 1 s t1 t 2 20 s - 35 s SSI Grey Parity YES 1 Vpp DIFFERENTIAL signals Signals VApp VBpp DC offset Signal period Supply V Max. cable length A, B centered: |V1-V2| / 2 Vpp A&B relationship VApp / VBpp A&B phase shift

A, /A, B, /B 1 V +20%, -40% 1 V +20%, -40% 2.5 V 0.5 V 40 m 5 V 10% 150 meters < 0.065 0.81.25 9010

FANUC systems
These systems only use digital signals. The absolute encoder is connected through the SDU ( separate detector unit ) device and is valid for communication protocol versions FANUC 01 and 02 serial interface.

MITSUBISHI systems
These systems only use digital signals. The absolute encoder is connected through the MDS Series drive and is valid for communication protocol versions MITSUBISHI High-speed serial interface.

PANASONIC systems
These systems only use digital signals. The absolute encoder is connected through the MINAS series drive. As an example, here is the photo and characteristics of the Panasonic MINAS A5L drive.

These systems use Analogue / Pulse signals.  Systems can be connected to linear motors, shaft motors, DD motors  Automatic drive/motor matching software available  Vibration, resonance suppression filters available with setting done automatically / manually  Drive range from 50 W to 15 kW at AC 100 V / 200 V / 400V PANASONIC A5L systems  Safety Torque Off feature available

13

A B S O L U T E

Range
Analyze the application to make sure that the proper encoder will be selected for the machine.
To do this, bear in mind the following considerations

n Linear
Installation
Consider the physical length of the installation and the space available for it. These aspects are crucial to determine the type of linear encoder to use (type of prole).

Accuracy
Each linear encoder comes with a graph showing its accuracy along its measuring length.

Linear
Series Section Measuring lengths 440 mm to 30 m

Signal
The signal selection considers the communication protocols compatible with the main CNC manufacturers.

LA
Long

Resolution
The resolution of the control of machine-tools depends on the linear encoder.

GA
Wide

140 mm to 3 040 mm

Cable length
The length of the cable depends on the type of signal.

Compatibility
The signal must be compatible with the control system.

SA
Reduced

70 mm to 1 240 mm

Speed
The speed requirements for the application must be analyzed before choosing the linear encoder.

SVA
Reduced

70 mm to 2 040 mm

Shock and Vibration


Fagor linear encoders withstand vibrations of up to 20 g and shock up to 30 g.

Angular
Series Section Type of shaft Hollow shaft

n Angular
Installation
This point considers the physical dimensions of the installation and the space available for it. It is essential to determine its type of shaft: Hollow or solid.

HA-D200 HA-D90 SA-D170 SA-D90 Rotary


Series Section

Hollow shaft

Accuracy
Each encoder comes with a graph showing its accuracy along its measuring length.

Solid shaft

n Rotary
Installation
This point considers the physical dimensions of the installation and the space available for it. It is essential to determine its type of shaft: Hollow or solid.

Solid shaft

Type of shaft Hollow shaft

HAX
14

Accuracy 5 m

Signals SSI +1 Vpp FAGOR /SIEMENS* FANUC /MITSUBISHI /PANASONIC

Pitch Resolution up to 0.1 m

Model LA LAF / LAM / LAS / LAP GA GAF / GAM / GAS / GAP SA SAF / SAM / SAS / SAP SVA SVAF / SVAM / SVAS / SVAP

Page 16 and 17

5 m and 3 m

SSI +1 Vpp FAGOR /SIEMENS* FANUC /MITSUBISHI /PANASONIC

0.1 m 0.05 m 0.1 m 0.05 m 0.1 m 0.05 m

18 and 19

5 m and 3 m

SSI +1 Vpp FAGOR /SIEMENS* FANUC /MITSUBISHI /PANASONIC

20 and 21

5 m and 3 m

SSI +1 Vpp FAGOR /SIEMENS* FANUC /MITSUBISHI /PANASONIC

22 and 23

Accuracy 2 and 1

Signals SSI +1 Vpp FAGOR / SIEMENS* FANUC / MITSUBISHI / PANASONIC

Model HA-D200 HAF-D200 / HAM-D200 / HAP-D200 HA-D90 HAF-D90 / HAM-D90 / HAP-D90 SA-D170 SAF-D170 / SAM-D170 / SAP-D170 SA-D90 SAF-D90 / SAM-D90 / SAP-D90 27 26 25 24

5 and 2.5

SSI +1 Vpp FAGOR / SIEMENS* FANUC / MITSUBISHI / PANASONIC

SSI +1 Vpp FAGOR / SIEMENS* FANUC / MITSUBISHI/ PANASONIC

5 and 2.5

SSI +1 Vpp FAGOR / SIEMENS* FANUC / MITSUBISHI / PANASONIC

Accuracy 1/10 of the pitch

Signals SSI +1 Vpp

Pitch Resolution up to 25 bits multi-turn 2 048 pulses

Model HAX-12342-2048 28

* SIEMENS: valid for family Solution Line.

15

A B S O L U T E

LA series
LINEAR

General characteristics
Measurement Steel tape accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 40 m-pitch stainless steel tape 5 m 120 m/min. 10 g <5N 0 C...50 C -20 C...70 C 1.50 kg + 4 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

Specially designed for high performance environment requiring speed and accuracy. Their special mounting system guarantees a thermal behavior identical to that of the machine surface the linear encoder is mounted on. This is achieved through oating xtures at their ends with the base of the machine and by tensioning the etched steel tape. This system eliminates the errors caused by temperature changes and ensures maximum accuracy and repeatability of the linear encoders. The steel tape graduation pitch is 0.04 mm. Measuring lengths over 4 040 mm require the use of modules. Model description: LA: Absolute linear encoders with SSI protocol for FAGOR and others.

LAS:  Absolute linear encoders for SIEMENS (Solution Line). LAF:  Absolute linear encoders with FANUC (01 and 02) protocol. LAM:  Absolute linear encoders with MITSUBISHI CNC (high speed serial interface) protocol. LAP:  Absolute linear encoders with PANASONIC (Matsushita) protocol. Measuring lengths in millimeters A  vailable in measuring lengths from 440 mm to 30 m in 200 mm increments. Contact Fagor Automation for custom solutions if your application requires longer lengths than 30 meters.

Reader head

Specific characteristics
LA Measuring resolution Absolute position measuring Output signals Incremental signal period Limit frequency Maximum cable length Supply voltage < 50 kHz for 1 Vpp 100 m 5V 10%, 250 mA (without load) 1 Vpp 40 m 30 m LAS LAF 0.1 m Optical reading of sequential binary code LAM LAP

16

Single module
CM + 301 30,5 0,05 0,1G 4,75 7 76 CM + 240

Dimensions in mm

30,5

4,75

25

78,5

33 200 0,15

n x 200 0,15 200 0,15

45

37 A

86,5

79 -0,5 62 1,5 2,5 1,5

+2,5

85 -0,5

+2,5

10 0,15

25 51,5 25

40 90

9,5

0,3 A CM

25
CM Measuring length

Absolute P=40

G P

Machine way Absolute position

Multiple modules
CM + 301 30,5 1411,5 0,05 0,1 G 4,75 7 76 CM + 240 m x 1400 L 1268,5-1468,5-1668,5-1868,5 2068,5-2268,5-2468,5 30,5

4,75

25

78,5

33

n x 200 0,15 200 0,15 200 0,15 200 0,15

45

37 A

86,5 0,3 G

62 1,5 2,5 1,5

+2,5

+2,5 79 -0,5

85 -0,5

10 1,5

25 51,5 25

40 90

9,5

0,3 A CM

25
CM Measuring length

Absolute P=40

G Machine way P

Absolute position

Order identification
Example of Linear Encoder: LAF - 102 - A

L
Type of prole for long space

A
Letter identifying the absolute encoder

F
Type of communications protocol:  Blank space: SSI protocol (FAGOR) S: SIEMENS (SL) protocol F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface) P: PANASONIC (Matsushita) protocol

102
Ordering length code: In the example (102) = 10 240 mm

A
Air intake on the reader head: B  lank space: Without air intake A  : With air intake

17

linear

0,3 G

A B S O L U T E

GA series
LINEAR

General characteristics
Measurement Thermal expansion coefcient of glass Accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 20 m-pitch graduated glass.

Specially designed for high performance environment requiring high speed and accuracy. The TDMS mounting system ensures greater accuracy, higher repeatability and ability to withstand vibrations without compromising machine performance. Model description: GA:  Absolute linear encoders with SSI protocol for FAGOR and others. GAS:  Absolute linear encoders for SIEMENS (Solution Line). GAF:  Absolute linear encoders with FANUC (01 and 02) protocol. GAM:  Absolute linear encoders with MITSUBISHI CNC (high speed serial interface) protocol. GAP:  Absolute linear encoders with PANASONIC (Matsushita) protocol. Measuring lengths in millimeters 140 240 340 440 540 640 740 840 940 1 040 1 140 1 240 1 340 1 440 1 540 1 640 1 740 1 840 2 040 2 240 2 440 2 640 2 840 3 040

therm = 8 ppm/K
5 m 3 m 120 m/min. 20 g <5N 0 C...50 C -20 C...70 C 0.25 kg + 2.25 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

Reader head

Specific characteristics
GA Measuring resolution Absolute position measuring Output signals Incremental signal period Limit frequency Maximum cable length Supply voltage < 100 kHz for 1 Vpp 100 m 5V 10%, 250 mA (without load) 1 Vpp 20 m 30 m 0.1 m GAS GAF GAM 0.05 m Optical reading of sequential binary code GAP

18

Single module
0,1 G

Dimensions in mm 0,1 G 0,03

35

25

76

M5

10,5

24,5 100 CM/2+65

CM+121 CM+100 Nx100 0,2 G 100

1,5 0,3

85

25

85

0,1

35 37

8,5 14,5 Absolute P=20

25

40 90

100,3

CM G P

Measuring length Machine way Absolute position

Order identification
Example of Linear Encoder: GAM- 1640-5-A

G
Type of prole for wide space

A
Letter identifying the absolute encoder

M
Type of communications protocol:  Blank space: SSI protocol (FAGOR) S: SIEMENS (SL) protocol F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface) P: PANASONIC (Matsushita) protocol

1640
Measuring lengths in millimeters In the example (1640) = 1 640 mm

5
Accuracy of the linear encoder: 5: 5 m 3: 3 m

A
Air intake on the reader head:  Blank space: Without air intake  A: With air intake

19

linear

A B S O L U T E

SA series
LINEAR

General characteristics
Measurement Thermal expansion coefcient of glass Accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 20 m-pitch graduated glass.

Specially designed for high performance environment requiring high speed and accuracy. Ideal for limited mounting spaces. Model description:

therm = 8 ppm/K
5 m 3 m 120 m/min. 10 g without mounting plate <4N 0 C...50 C -20 C...70 C 0.20 kg + 0.50 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

SA:  Absolute linear encoders with SSI protocol for FAGOR and others. SAS:  Absolute linear encoders for SIEMENS (Solution Line). SAF:  Absolute linear encoders with FANUC (01 and 02) protocol. SAM:  Absolute linear encoders with MITSUBISHI CNC (high speed serial interface) protocol. SAP:  Absolute linear encoders with PANASONIC (Matsushita) protocol.

Measuring length in mm. 70 120 170 220 270 320 370 420 470 520 570 620 720 770 820 920 1020 1140 1240

Reader head

Specific characteristics
SA Measuring resolution Absolute position measuring Output signals Incremental signal period Limit frequency Maximum cable length Supply voltage < 100 kHz for 1 Vpp 100 m 5V 10%, 250 mA (without load) 1 Vpp 20 m 30 m 0.1 m SAS SAF SAM 0.05 m Optical reading of sequential binary code SAP

20

Single module

Dimensions in mm 0,1 G 0,03

12
3

74

2xM4 CM+140 CM+136

10,5 20 4 0,5 18 4,5

CM+115 0,1 G CM > 620 20

12 28,7 0,5 13,5

1 0,5

61,7 54,2

4 10

0,1

18

54,2

15,5 2 13 56 93 Absolute P=20


CM Measuring length G P

Machine way Absolute position

Order identification
Example of Linear Encoder: SAF - 420 - 5 - A

S
Type of prole for reduced space:  S: Standard mounting for vibrations of up to 10 g.

A
Letter identifying the absolute encoder

F
Type of communications protocol:  Blank space: SSI protocol (FAGOR) S: SIEMENS (SL) protocol F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface)  P: PANASONIC (Matsushita) protocol

420
Measuring lengths in millimeters In the example (420) = 420 mm

5
Accuracy of the linear encoder: 5: 5 m 3: 3 m

A
Air intake on the reader head:  Blank space: Without air intake  A: With air intake

21

linear

A B S O L U T E

SVA series
LINEAR

General characteristics
Measurement Thermal expansion coefcient of glass Accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 20 m-pitch graduated glass.

Specially designed for high performance environment requiring high speed and accuracy and the need to withstand higher vibrations. The TDMS mounting system incorporated through a separate back bar ensures greater accuracy, higher repeatability and ability to withstand vibrations without compromising machine performance. Model description: SVA:  Absolute linear encoders with SSI protocol for FAGOR and others. SVAS:  Absolute linear encoders for SIEMENS (Solution Line). SVAF:  Absolute linear encoders with FANUC (01 and 02) protocol. SVAM: Absolute linear encoders with MITSUBISHI CNC (high speed serial interface) protocol.

therm = 8 ppm/K
5 m 3 m 120 m/min. 20 g with mounting plate <4N 0 C...50 C -20 C...70 C 0.20 kg + 0.50 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

SVAP:  Absolute linear encoders with PANASONIC (Matsushita) protocol.

Reader head

Measuring lengths in millimeters 620 720 770 820 920 1 020 1 140 1 240 1 340 1 440 1 540 1 640 1 740 1 840 2 040

Specific characteristics
SVA Measuring resolution Absolute position measuring Output signals Incremental signal period Limit frequency Maximum cable length Supply voltage < 100 kHz for 1 Vpp 100 m 5V 10%, 250 mA (without load) 1 Vpp 20 m 30 m 0.1 m SVAS SVAF SVAM 0.05 m Optical reading of sequential binary code SVAP

22

Single module
5,8 28

Dimensions in mm

38,2

16

10 (CM/2+52,5)

(B1,B2,B3,B4) 0,5 (CM/2+15) 0,5

16

(B1,B2,B3,B4) 0,5 (CM/2+15) 0,5 CM+105 0,1 G 0,03

12

74

2xM4

B1

B2

B3

B4

70 - 520 570 - 920 1020 - 1340 1440 - 1740 1840 - 2040 30 0,1 G

200 200 200 200

400 400 400

600 600

800 30

60,2

0,1

48,2 0,5

10,5

60,2

21

12

10

10 18 Absolute P=20

13

56 93

CM Measuring length G P

Machine way Absolute position

Order identification
Example of Linear Encoder: SVAF - 420 - 5 - B - A

SV
Type of prole for reduced spaces:  SV: Vibration mounting for up to 20 g.

A
Letter identifying the absolute encoder

F
Type of communications protocol:

420
Measuring lengths in millimeters

5
Accuracy of the linear encoder:

B
Linear encoder with mounting support:  B: With mounting support for vibrations of up to 20 g

A
Air intake on the reader head:  Blank space: Without air intake  A: With air intake

 Blank space: SSI protocol (FAGOR) In the example 5: 5 m S. SIEMENS (SL) protocol 3: 3 m F: FANUC (01 and 02) protocol (420) = 420 mm  M: MITSUBISHI CNC protocol (high speed serial interface)  P: PANASONIC (Matsushita) protocol

23

linear

A B S O L U T E

HA-D200 series
ANGULAR
Dimensions in mm 5.75 - 4x90 0,25 B
14, 5 79

25

M4 - 4x90 0,3 C

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Natural frequency Shock Inertia Maximum speed Turning torque Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency By means of graduated glass disk 2 and 1 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 1 Vpp (32 768 pulses/ turn) 100 m/s2 (55 2000 Hz) IEC 60068-2-6 1000 Hz 1 000 m/s2 (6 ms) IEC 60068-2-27 10 000 gr. cm 1 000 rpm 0.5 Nm
2

40 3,5 17 5 36,5

10,5

60 H7

0 C+50 C -30 C+80 C IP64 (DIN 40050) standard > IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal 5 V 5% (TTL); 5V 10% (1 Vpp) 1 Vpp (32 768 pulses/turn) Differential TTL: EIA RS 485 / EIA RS 422 100 m (FAGOR / SIEMENS) 30 m (FANUC, MITSUBISHI, PANASONIC)

Current under no load condition Maximum 150 mA Supply voltage Output signals Maximum cable length

Order identification
Example of Angular Encoder: HAF-23-D200-2

H
Type of shaft:  H: Hollow shaft

A
Letter identifying the absolute encoder

F
Type of communications protocol:  Blank space: FAGOR / SIEMENS (SL) F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface) P: PANASONIC (Matsushita) protocol

23
Absolute positions per turn:  23 bits (8 388 608 positions)  27 bits (134 217 728 positions)

D200
Outside diameter:  D200: 200 mm

72 H6

200

188

70

66

3.2 kg

180 g6

31,7
0.05

2
Accuracy: 2  : 2 arc-seconds 1  : 1 arc-seconds

24

A B S O L U T E

HA-D90 series
ANGULAR
Dimensions in mm
0 ,5 -0

16 ,5

0 11

0 10

,2

33 ,5

0 92,5 -1

R1

M3 - 4 x90 0,3 A

Accuracy D1

2.5 20 H6 30 H6

5 20 H7 30 H7

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Natural frequency Shock Inertia Maximum speed Turning torque Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency By means of graduated glass disk 5 and 2.5 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 1 Vpp (16 384 pulses/turn) 100 m/s2 (55 2000 Hz) IEC 60068-2-6 1 000 Hz

D2

6,75 5,8

85 f7

650 gr. cm 3 000 rpm 1 kg 0.08 Nm

-20 C... +70 C (5), 0 C...+50 C (2.5) -30 C+80 C IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal 5 V 5% (TTL); 5V 10% (1 Vpp) 1 Vpp (16 384 pulses/turn) Differential TTL: EIA RS 485 / EIA RS 422 100 m (FAGOR / SIEMENS) 30 m (FANUC, MITSUBISHI, PANASONIC)

3 0,1

10 52 55

Current under no load condition Maximum 150 mA Supply voltage Output signals Maximum cable length

Order identification
Example of Angular Encoder: HAF-23-D90-2

H
Type of shaft:  H: Hollow shaft

A
Letter identifying the absolute encoder

F
Type of communications protocol:  Blank space: FAGOR / SIEMENS (SL) F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface) P: PANASONIC (Matsushita) protocol

23
Absolute positions per turn: 2  3 bits (8 388 608 positions)  27 bits (134 217 728 positions)

D90
Outside diameter: D  90: 90 mm

3,3 -4x90

2
Accuracy:  Blank space: 5 arcseconds  2: 2.5 arc-seconds

89,6

35

D1

D2

1 000 m/s2 (6 ms) IEC 60068-2-27

46 0,1

25

angular and rotary

4, 5

10

A B S O L U T E

SA-D170 series
ANGULAR
45
Dimensions in mm

160 7,5
39,1

5,5
54

39,5

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Shock Inertia Maximum speed Turning torque Load on the shaft Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency By means of graduated glass disk

90 0,06 A 0,06 A

2 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 1 Vpp (16 384 pulses/ turn) 100 m/s2 (55 2000 Hz) IEC 60068-2-6 1 000 m/s2 (6 ms) IEC 60068-2-27 350 gr. cm 3 000 rpm 0.01 Nm Axial: 1 kg Radial: 1 kg.
2

0,025 A

0,1

0,1 A

10

170 h7

140 h6

0 C+50 C -30 C+80 C IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal 5 V 5% (TTL); 5V 10% (1 Vpp) 1 Vpp (16 384 pulses/turn) Differential TTL: EIA RS 485 / EIA RS 422 100 m (FAGOR / SIEMENS ) 30 m (FANUC, MITSUBISHI, PANASONIC)

Current under no load condition Maximum 250 mA Supply voltage Output signals Maximum cable length

3 4 14 50

Order identification
Example of Angular Encoder: SAF-23-D170

S
Type of shaft  S: Solid shaft

A
Letter identifying the absolute encoder

F
Type of communications protocol:  Blank space: FAGOR / SIEMENS (SL) F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface) P: PANASONIC (Matsushita) protocol

23
Absolute positions per turn: 23 bits (8 388 608 positions) 2  7 bits (134 217 728 positions)

D170
Outside diameter:  D170: 170 mm

26

150

2.65 kg

14 h6

M6x8

A B S O L U T E

SA-D90 series
ANGULAR
Dimensions in mm 16,5
0 110 -0,5

R1

100 0,2
33 ,5
45

0 92,5 -1

4,5

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Shock Inertia Maximum speed Turning torque Load on the shaft Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency By means of graduated glass disk 5 and 2.5 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 1 Vpp (16 384 pulses/ turn) 100 m/s2 (55 2000 Hz) IEC 60068-2-6 1 000 m/s2 (6 ms) IEC 60068-2-27 200 gr. cm2 10000 rpm 0.01 Nm Axial: 1 kg Radial: 1 kg 0.8 kg -20 C... +70 C (5), 0 C...+50 C (2.5) -30 C+80 C IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal 5 V 5% (TTL); 5V 10% (1 Vpp) 1 Vpp (16 384 pulses/turn) Differential TTL: EIA RS 485 / EIA RS 422 100 m (FAGOR / SIEMENS) 30 m (FANUC, MITSUBISHI, PANASONIC)

0,08 A
0 20 -1

5,8

10 h6

6,75 B A
0 90 -1

80 h7

0,01 A

0,08 B

3 0,2 13 42 +1 0

Current under no load condition Maximum 150 mA Supply voltage Output signals Maximum cable length

Order identification
Example of Angular Encoder: SAF-23-D90-2

S
Type of shaft  S: Solid shaft

A
Letter identifying the absolute encoder

F
Type of communications protocol:  Blank space: FAGOR / SIEMENS (SL) F: FANUC (01 and 02) protocol  M: MITSUBISHI CNC protocol (high speed serial interface)  P: PANASONIC (Matsushita) protocol

23
Absolute positions per turn: 2  3 bits (8 388 608 positions)  27 bits (134 217 728 positions)

D90
Outside diameter: D  90: 90 mm

2
Accuracy:  Blank space: 5 arcseconds  2: 2.5 arc-seconds

27

angular and rotary

A B S O L U T E

HAX series
ROTARY
60 42

Screw 3 tapped holes M4 x 8 a 120

DIN912 M3 X 12

15

78 4 3 3

General characteristics
Accuracy Maximum Nr of positions per turn Maximum number of turns Vibration Shock Inertia Maximum speed Turning torque Weight Running temperature Protection 1/ 10 of the pitch 8 192 positions (13 bits) 4 096 turns (12 bits) 100 ms2 1 000 ms
2

12 H7

50 g7

Measurement

By means of graduated glass disk

58

52

30

0,5 6,5 34 15

30 gr. cm2 6 000 rpm 2 Ncm 0.5 Kg 0C 70C IP 65

Current under no load condition 150 mA Supply voltage Output signals 5 V 5% SSI + 1 Vpp

Order identification - HAX model


Example for an Absolute Encoder: HAX-12141-2048

HAX
In all cases

1
Type of clamp: 1  : front clamp

2
Size of the hollow shaft (A):  2: 12 mm

1
Output signals: 1  : SSI + Vpp

4
Type of connection: 4  : Connector with 17 pins in housing

1
Supply voltage: 1 :5V

2048
Number of pulses/ turn 2  048

28

29

A B S O L U T E

Direct connection cables


Connection to FAGOR CNC
UP TO 9 METERS

ECB-D
Lengths: 1, 3, 6 and 9 meters
SUB D 15 HD connector (male Pin )

XC-C8-...F-D extension cable


Lengths: 5, 10, 15, 20, and 25 meters
17-pin CIRCULAR connector (female Pin ) SUB D 15 HD connector (male Pin )

Pin
1 2 3 4 5 6 7 8 9 10 11 12 15 Housing

Signal
A /A B /B Data /Data Clock /Clock +5 V

Color
Green Yellow Blue Red Grey Pink Black Purple Brown

Pin Signal Color


15 16 12 13 14 17 8 9 7 1 10 4 11 1 2 3 4 5 6 7 8 9 10 11 12 15 A /A B /B Data /Data Clock /Clock +5 V +5 V sensor 0V 0V sensor

Color
Green-Black Yellow-Black Blue-Black Red-Black Grey Pink Purple Yellow Brown/Green Blue White/Green White

+5 Vsensor Light green 0V 0 Vsensor Ground Ground White Orange Internal shield External shield

Ground Internal shield

Housing Housing Ground External shield

FROM 9 METERS ON EC-...B-C9 cable + XC-C8 F - D extension cable

XC-C8-...F-C9 extension cable ECB-C9


Lengths: 1 and 3 meters (consult Fagor Automation for others) Pin
15 16 12 13 14 17 8 9 7 1 10 4 11 Housing

Lengths: 5, 10, 15, 20, and 25 meters


17-pin CIRCULAR connector (female Pin 17-pin CIRCULAR connector (male Pin ) )

Signal
A /A B /B Data /Data Clock /Clock +5 V

Color
Green Yellow Blue Red Grey Pink Black Purple Brown

Pin
15 16 12 13 14 17 8 9 7 1 10 4 11

Pin
15 16 12 13 14 17 8 9 7 1 10 4 11

Signal Color
A /A B /B Data /Data Clock /Clock +5 V +5 V sensor 0V 0V sensor Green-Black Yellow-Black Blue-Black Red-Black Grey Pink Purple Yellow Brown/Green Blue White/Green White

+5 Vsensor Light green 0V 0 Vsensor Ground Ground White Orange Internal shield External shield

Ground Internal shield

Housing Housing Ground External shield

30

Connection to other CNCs


UP TO 9 METERS Connector for direct connection to FANUC

ECPA-FN
Lengths: 1, 3, 6 and 9 meters Pin
1 2 5 6 9 18-20 12 14 16

Connector for direct connection to MITSUBISHI

Signal
Data /Data Request /Request +5 V +5 V sensor 0V 0V sensor Ground

Color
Green Yellow Blue Red Brown Grey White Pink Shield

EC...AM-MB
Lengths: 1, 3, 6, and 9 meters Pin
7 8 3 4 1 2 Housing

Signal
SD (MD) /SD (MD) RQ (MR) /RQ (MR) +5 V 0V Ground

Color
Green Yellow Grey Pink Brown + Purple White + Black+ Blue Shield
1 3 5 7 9 2 4 6 8 10

FROM 9 METERS ON To FANUC: EC... B-C9 cable + XC-C8... FN extension cable To MITSUBISHI CNC: EC... B-C9 cable + XC-C8 MB extension cable

ECB-C9
Lengths: 1 and 3 meters (consult Fagor Automation for others) Pin
14 17 8 9 7 1 10 4 Housing

Signal
Data /Data Request /Request +5 V +5 V sensor 0V 0V sensor Ground

Color
Grey Pink Black Purple Brown Light green White Orange Shield

XC-C8 FN extension cable


Lengths: 5, 10, 15, 20 and 25 meters
17-pin CIRCULAR connector (female Pin HONDA / HIROSE connector (female Pin ) )

XC-C8 MB extension cable


Lengths: 5, 10, 15, 20 and 25 meters
17-pin CIRCULAR connector (female Pin ) 10-pin MOLEX/3M RECTANGULAR connector (female Pin

Pin
14 17 8 9 7 1 10 4 Housing

Pin
1 2 5 6 9 18-20 12 14 16

Signal
Data /Data Request /Request +5 V +5 V sensor 0V 0V sensor Ground

Color
Grey Pink Purple Yellow Brown/Green Blue White/Green White Shield

Pin
8 9 14 17 7 1 10 4

Pin
7 8 3 4 1 2 -

Signal
SD (MD) /SD (MD) RQ (MR) /RQ (MR) +5 V +5 V sensor 0V 0V sensor Ground

Color
Purple Yellow Grey Pink Brown/Green Blue White/Green White Shield
1 3 5 7 9 2 4 6 8 10

Housing Housing

31

I N C R E M E N T A L

Technology
The incremental encoders provide direct measure of machine position without using any intermediate device. The positioning errors originating from machine mechanics are minimized as the encoder is directly mounted to the machine surface and the guide ways. The encoder sends the real machine movement data to the CNC and mechanical errors caused due to thermal behavior of the machine, pitch error compensation and backlash etc. are minimized.

Enclosed design
The robust aluminum prole encasing the graduated glass provides the primary protection. The sealing lips provides protection against contaminants and liquids as the reader head travels along the prole. The reader head movement along the graduated glass provides a perfectly balanced system accurately capturing the machine movement. The reader heard travels on precision bearings with minimum contact with the prole hence minimizing the friction. The optional air inlet at both ends of the encoder and at the reader head provides increased protection levels against contaminants and liquids.

Measuring Methods
Fagor Automation uses two measuring methods in their incremental encoders:  Graduated glass: Linear encoders with a measuring length of up to 3040 mm use optical transmission. The light from the LED goes through a graduated glass and a reticule before reaching the receiving photo diodes. The period of the generated electrical signals is the same as the graduation pitch.  Graduated steel: Linear encoders over 3 040 mm measuring length use graduated steel tape and image captured through diffused light as a measuring principle. The reading system consists of an LED as a light source , a mesh to make the image and a monolithic photo detector element in the plane of the image specially designed and patented by Fagor Automation.

Graduated glass encoder


LEDs Grid Graduated glass

Incremental graduation

Reference marks

Receiving photo-diodes

Graduated steel encoder


Graduated steel Grid LEDs

Types of incremental encoders


 Linear encoder: Ideal for milling, grinding, lathe and boring mill applications requiring federates of up to 120 m/min and vibrations of up to 20 g.  Angular encoder: Used as an angular movement sensor on machines/devices requiring high resolution and accuracy. Fagor Angular encoders offer from 18 000 to 360 000 pulses/turn and accuracy levels of 5, 2.5, 2 and 1 depending on the model.  Rotary encoder: Used as a measuring sensor for rotary movements, angular speeds and also linear movement when connected to a mechanical device like ball screw. They are also used on various types of machine tools and robotic applications.

Incremental graduation

Reference marks

Receiving photo-diodes

Graduated glass disk


Receiving photo-diodes Grid Flat convex lens

LED

Graduated glass disk

Reference marks

32

Graduated glass /steel tape Cursor Thermal Determined Mounting System (TDMSTM) Aluminum prole Sealing lips

Reader head

Air intake at both ends

Air intake on the reader head

Linear encoder

Reference signals (I0)


It is a reference signal etched on a graduation and when scanned by the measuring system generates a pulse. Reference marks are used to validate and restore the c position specially after turning on the machine machine zero b d d power. Fagor Automation encoders have three types of reference marks I0:  Incremental: The reference signal obtained is synchronized with the feedback signals to ensure perfect measuring repeatability.

50

a d

Incremental

a d

c d

Linear: One every 50 mm of travel.


d
Distances b c 40.08 40.12 10.04 10.06

Angular and rotary: One signal per turn  Distance-coded: Both on linear and angular encoders each distance coded reference signal is graduated in a non linear way based on the predened mathematical function. The machine position value can be restored by moving through two consecutive reference signals. The machine movement needed to know the real position is always very small and this is a very useful feature for large travel machines.  Selectable: With selectable linear encoders the customer can select one or more reference points and ignore the rest by simply inserting a magnet at the selected point or points.

Series L G and S

a 40.04 10.02

d 80 20

Distance-coded

50

Selectable Angular and rotary encoder

incremental I0
etching reference signals

33

I N C R E M E N T A L

Electrical output
Differential TTL

signals
VH
A

These are complementary signals in compliance with the EIA standard RS-422. This characteristic together with a line termination of 120 , twisted pair, and an overall shield provide greater immunity to electromagnetic noise caused by their environment. Characteristics Signals Signal level 90 reference signal (I0) Switching time Supply voltage and consumption T period Max. cable length Load impedance A, /A, B, /B, I0, / I0 VH 2.5V IH= 20mA VL 0.5V IL= 20mA With 1 m cable Synchronized with A and B t+/t-< 30ns With 1 m cable 5 V 5%, 100 mA 4 m 50 meters Zo= 120 between differential

VL T

t+

tT/4

Io

Voltage drop across cable


The voltage required for a TTL encoder must be 5V 5%. A simple formula may be used to calculate the maximum cable length depending on the section of the supply cables. Lmax = (VCC-4.5)* 500 / (ZCABLE/Km* IMAX) Example Vcc = 5V, IMAX Z (1 mm2) Z (0.5 mm2) Z (0.25 mm )
2

= = = = =

0.2 Amp (With 120 load) 16.6 /Km 32 /Km 66 /Km 132 /Km (Lmax= 75 m) (Lmax= 39 m) (Lmax=19 m) (Lmax= 9 m)
Cable length meters

Z (0.14 mm2)

34

Differential 1 Vpp
A V1 V2 T=360 B I0 min V I0 L I0 max R Vpp Vpp

They are complementary sinusoidal signals whose differential value is 1 Vpp centered on Vcc/2. This characteristic together with a line termination of 120 , twisted pair, and an overall shield provide greater immunity to electromagnetic noise caused by their environment. Characteristics Signals VApp VBpp DC offset Signal period Supply V Max. cable length A, B centered: |V1-V2| / 2 Vpp A&B relationship: VApp / VBpp A&B phase shift: A, /A, B, /B, I0, / I0 1 V +20%, -40% 1 V +20%, -40% 2.5 V 0.5 V 20 m, 40 m 5 V 10% 150 meters 0.065 0.8 1.25 90 10 0.2 0.8 V

I0 amplitude: VI0

I0 width: L + R  I0_min: 180


 I0_typ: 360 180 90

I0 synchronism: L, R

I0_max: 540

Voltage drop across cable


The voltage required for a 1 Vpp encoder must be 5V 10%. A simple formula may be used to calculate the maximum cable length depending on the section of the supply cables. Lmax = (VCC-4.5)* 500 / (ZCABLE/Km* IMAX) Example Vcc Z (1 mm2)
Cable length

= = = = =

5V, IMAX= 0.1Amp 16.6 /Km 32 /Km 66 /Km 132 / Km (Lmax= 150 m) (Lmax= 78 m) (Lmax= 37 m) (Lmax= 18 m)

Z (0.5 mm2) Z (0.25 mm2) Z (0.14 mm )


2

meters

1 Vpp signal damping due to the cable section


Besides attenuation due to signal frequency, there is another signal attenuation caused by the section of the cable connected to the encoder.

Cable length meters

35

I N C R E M E N T A L

Range
Analyze the application to make sure that the proper encoder will be selected for the machine.
To do this, bear in mind the following considerations

Linear
Series Section Type of shaft 400 mm to 60 m

n Linear
Installation
Consider the physical length of the installation and the space available for it. These aspects are crucial to determine the type of linear encoder to use (type of prole).

L
Long

Accuracy
Each linear encoder comes with a graph showing its accuracy along its measuring length.

G
Wide

140 mm to 3 040 mm

Signal
Consider the following variables for selecting the type of signal: Resolution, cable length and compatibility.

S
Reduced

70 mm to 1 240 mm

Resolution
The resolution of the control of machine-tools depends on the linear encoder.

SV
Reduced

70 mm to 2 040 mm

Cable length
The length of the cable depends on the type of signal.

Speed
The speed requirements for the application must be analyzed before choosing the linear encoder.

Angular
Series Section Type of shaft Hollow shaft

Shock and Vibration


Fagor linear encoders withstand vibrations of up to 20 g and shock up to 30 g.

H-D200 H-D90 S-D170 S-1024-D90 S-D90 Rotary


Series Section

Alarm signal
Models SW / SOW / SSW and GW / GOW /GSW offer the alarm signal AL.

Hollow shaft

n Angular
Installation
This point considers the physical dimensions of the installation and the space available for it. It is essential to determine its type of shaft: Hollow or solid.

Solid shaft

Solid shaft

Accuracy
Each encoder comes with a graph showing its accuracy along its measuring length.

Solid shaft

Alarm signal
Models H-D200, H-D90, S-D170, S-1024-D90 and S-D90 offer the alarm signal AL.

Type of shaft Hollow shaft

n Rotary
Installation
This point considers the physical dimensions of the installation and the space available for it. It is essential to determine its type of shaft: Hollow or solid.

H S

Solid shaft

36

Accuracy 5 m

Signals 1 Vpp TTL 1 Vpp

Pitch Resolution up to 0.1 m 1 m 0.1 m 1 m 0.5 m 0.1 m 0.1 m 1 m 0.5 m 0.1 m 0.1 m 1 m 0.5 m 0.1 m

Model LP / LOP

Page 38 and 39

LX / LOX GP / GOP / GSP GX / GOX / GSX GY / GOY / GSY GW / GOW / GSW SP / SOP / SSP SX / SOX / SSX SY / SOY / SSY SW / SOW / SSW SVP / SVOP / SVSP SVX / SVOX / SVSX SVY / SVOY / SVSY SVW / SVOW / SVSW 44 and 45 42 and 43 40 and 41

5 m and 3 m

TTL TTL TTL 1 Vpp

5 m and 3 m

TTL TTL TTL 1 Vpp

5 m and 3 m

TTL TTL TTL

Accuracy 2 (arc-seconds)

Signals 1 Vpp TTL 1 Vpp TTL 1 Vpp TTL 1 Vpp (dual feedback) TTL (dual feedback) 1 Vpp TTL

Model HP-D200 / HOP-D200

Page 46

H-D200 / HO-D200 HP-D90 / HOP-D90 47 H-D90 / HO-D90 SP-D170 / SOP-D170 48 S-D170 / SO-D170 SP/SOP 18000-1024-D90 49 S/SO 90000-1024-D90 SP-D90 / SOP-D90 S-D90 / SO-D90 50

5, 2,5 (arc-seconds)

5, 2.5 (arc-seconds)

5 (arc-seconds) 5, 2.5 (arc-seconds)

Accuracy 1/10 of the pitch

Signals 1 Vpp TTL

Model HP H / HA SP S

Page 52 and 53

1/10 of the pitch

1 Vpp TTL

52 and 53

37

I N C R E M E N T A L

L series
LINEAR

General characteristics
Measurement Steel tape accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection Reader head By means of a 40 m-pitch stainless steel tape 5 m 120 m/min. 10 g <5N 0 C...50 C -20 C...70 C 1.50 kg + 4 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

Specially designed for high performance environment requiring speed and accuracy. Their special mounting system guarantees a thermal behavior identical to that of the machine surface the linear encoder is mounted on. This is achieved through oating xtures at their ends with the base of the machine and by tensioning the etched steel tape. This system eliminates the errors caused by temperature changes and ensures maximum accuracy and repeatability of the linear encoders. The steel tape graduation pitch is 40 m. Measuring lengths over 4 040 mm require the use of modules. Measuring lengths  Available in measuring lengths from 440 mm to 60 m in 200 mm increments. Contact Fagor Automation for custom solutions if your application requires longer lengths than 60 meters.

Specific characteristics
LX LOX Resolution Output signals TTL differential Incremental signal period Limit frequency Maximum cable length Reference marks (I0) Supply voltage 4 m 500 kHz 50 m 1 m LP LOP Up to 0.1 m 1 Vpp 40 m 50 kHz 150 m

LX and LP: every 50 mm LOX and LOP: Distance-coded I0 5V 5%.150 mA (without load) 5V 10%,<150 mA (without load)

38

Single module
30,5 0,05 0,1G 4,75 7 76

CM + 301 CM + 240

Dimensions in mm 30,5

4,75

25

78,5

33

n x 200 0,15 200 0,15

45

37 A

86,5 0,3 G

200 0,15 79 -0,5 62 1,5 2,5 1,5

+2,5

85 -0,5

+2,5

10 0,15

25 51,5 25 20

40 90 50

9,5 0,3 A CM

25

I0 I0

Distance-coded 1

I0

50 40,08 80

50

q x 50 40,12 80 r x 80
CM Measuring length G

40,04
Non-distance coded

1 I0

80

Machine way

Multiple modules
30,5 1411,5 0,05 0,1 G 4,75 7 76

CM + 301 CM + 240 m x 1400 L 1268,5-1468,5-1668,5-1868,5 2068,5-2268,5-2468,5 30,5

4,75

25

78,5

33

n x 200 0,15 200 0,15

45

37 A

86,5 0,3 G

200 0,15 200 0,15 62 1,5 2,5 1,5

+2,5

+2,5 79 -0,5

85 -0,5

10 1,5

25 51,5 25

40 90

9,5 0,3 A CM

25

40,04

40,08 80

40,12 80 r x 80

CM Measuring length G

I0

Non-distance coded

1 I0

80

Machine way

Order identification
Example of Linear Encoder: LOP - 102 - A

L
Type of prole for long space

O
Type of reference mark I0:  Blank space: Incremental, one mark every 50 mm  O: Distance-coded marks Type of signal:

P
X: 1 m resolution differential TTL P: 1 Vpp sinusoidal

102
Ordering length code: In the example (102) = 10 240 mm

A
Air intake on the reader head: B  lank space: Without air intake A  : With air intake

39

linear

I0

Distance-coded 1

I0

20

50

50

50

q x 50

I N C R E M E N T A L

G series
LINEAR

General characteristics
Measurement Thermal expansion coefcient of glass Accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 20 m-pitch graduated glass

Specially designed for high performance environment requiring high speed and accuracy. The TDMS mounting system ensures greater accuracy, higher repeatability and ability to withstand vibrations without compromising machine performance. Measuring lengths 140 240 340 440 540 640 740 840 940 1 040 1 140 1 240 1 340 1 440 1 540 1 640 1 740 1 840 2 040 2 240 2 440 2 640 2 840 3 040

therm = 8 ppm/K
5 m 3 m 120 m/min. 20 g <5N 0 C...50 C -20 C...70 C 0.25 kg + 2.25 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

Reader head

Specific characteristics
GX GOX GSX Resolution Output signals Incremental signal period Limit frequency Maximum cable length Reference marks I0 4 m 500 kHz 1 m GY GOY GSY 0.5 m TTL differential 2 m 1 MHz 50 m GX, GY, GW and GP: every 50 mm GOX, GOY, GOW and GOP: Distance-coded I0 GSX, GSY, GSW and GSP: Selectable I0 5V 5%, 150 mA (without load) 5V 10%, <150 mA (without load) 0.4 m 1.5 MHz GW GOW GSW 0.1 m GP GOP GSP Up to 0.1 m 1 Vpp 20 m 100 kHz 150 m

Supply voltage

40

Single module
0,1 G

Dimensions in mm 0,1 G 0,03

35

25

76

M5

10,5

24,5 100 CM/2+65

CM+121 CM+100 Nx100 0,2 G 100

1,5 0,3

85

25

85

0,1

35 37

8,5 14,5

25

40 90

I0 Distance-coded I0 Non-distance
coded

20

50

50

100,3 Nx50
CM

Measuring length Machine way

20 10,02

20 10,04

20 10,06

20 10,08

Nx20

Order identification
Example of Linear Encoder: GOX - 1640 - 5 - A

G
Type of prole for wide space

O
Type of reference mark I0:  Blank space: Incremental, one mark every 50 mm  O: Distance-coded marks  S: Selectable reference marks Type of signal:

X
 X: 1 m resolution differential TTL  Y: 0.5 m resolution differential TTL  W: 0.1 m resolution differential TTL P: 1 Vpp sinusoidal

1640
Measuring lengths in millimeters In the example (1640) = 1 640 mm

5
Accuracy of the linear encoder: 5: 5 m 3: 3 m

A
Air intake on the reader head:  Blank space: Without air intake  A: With air intake

41

linear

I N C R E M E N T A L

S series
LINEAR

General characteristics
Measurement Thermal expansion coefcient of glass Accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 20 m-pitch graduated glass

Specially designed for high performance environment requiring high speed and accuracy. Ideal for limited mounting spaces. Measuring lengths in mm

therm = 8 ppm/K
5 m 3 m 120 m/min. 10 g without mounting plate <5N 0 C...50 C -20 C...70 C 0.20 kg + 0.50 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

70 120 170 220 270 320 370 420 470 520 570 620 720 770 820 920 1 020 1 140 1 240

Reader head

Specific characteristics
SX SOX SSX Resolution Output signals Incremental signal period Limit frequency Maximum cable length Reference marks I0 4 m 500 kHz 1 m SY SOY SSY 0.5 m TTL differential 2 m 1 MHz 50 m SX, SY, SW and SP: every 50 mm SOX, SOY, SOW and SOP: I0 Distance-coded SSX, SSY, SSW and SSP: I0 Selectable 5V 5%, 150 mA (without load) 5V 10%, <150 mA (without load) 0.4 m 1.5 MHz SW SOW SSW 0.1 m SP SOP SSP Up to 0.1 m 1 Vpp 20 m 100 kHz 150 m

Supply voltage

42

S module

Dimensions in mm 0,1 G 0,03

12
3

74

2xM4 CM+140 CM+136

10,5 20 4 0,5 18 4,5

CM+115 0,1 G CM > 620 20

12 28,7 0,5 13,5

1 0,5

61,7 54,2

4 10 15,5 2 13 56 93 A 20 10,04 50 20 20 20 50 Nx20


CM A

0,1

18

I0

54,2

Non-distance coded

Nx50

I0 Distance-coded 5 20
10,02

10,06

10,08

70 - 1020 10,10 1140 - 2040

35 45

CM Measuring length G

Machine way

Order identification
Example of Linear Encoder: SOP - 420 - 5 -A

S
Type of prole for reduced spaces  S: Standard mounting for up to 10 g vibrations.

O
Type of reference mark I0: B  lank space: Incremental, one mark every 50 mm. O  : Distance-coded marks S  : Selectable reference marks Type of signal:

P
X  : 1 m resolution differential TTL Y  : 0.5 m resolution differential TTL W  : 0.1 m resolution differential TTL P: 1 Vpp sinusoidal

420
Measuring lengths in millimeters In the example (420) = 420 mm

Accuracy of the Air intake on linear encoder: the reader head: 5: 5 m 3: 3 m  Blank space: Without air intake  A: With air intake

43

linear

I N C R E M E N T A L

SV series
LINEAR

General characteristics
Measurement Thermal expansion coefcient of glass Accuracy Maximum speed Maximum vibration Required moving force Operating temperature Storage temperature Weight Relative humidity Protection By means of a 20 m-pitch graduated glass

Specially designed for high performance environment requiring high speed and accuracy and the need to withstand higher vibrations. The TDMS mounting system incorporated through a separate back bar ensures greater accuracy, higher repeatability and ability to withstand vibrations without compromising machine performance. Measuring lengths in mm 70 120 170 220 270 320 370 420 470 520 570 620 720 770 820 920 1020 1140 1240 1340 1440 1540 1640 1740 1840 2040

therm = 8 ppm/K
5 m 3 m 120 m/min. 20 g with mounting plate <5N 0 C...50 C -20 C...70 C 0.20 kg + 0.50 kg/m 20...80% IP 53 (standard) IP 64 (DIN 40050) using pressurized air at 0.8 0.2 bar in linear encoders With built-in connector

Reader head

Specific characteristics
SVX SVOX SVSX Resolution Output signals Incremental signal period Limit frequency Maximum cable length Reference marks I0 4 m 500 kHz 1 m SVY SVOY SVSY 0.5 m TTL differential 2 m 1 MHz 50 m SVX, SVY, SVW and SVP: every 50 mm SVOX, SVOY, SVOW and SVOP: I0 Distance-coded SVSX, SVSY, SVSW and SVSP: I0 Selectable 5V 5%, 150 mA (without load) 5V 10%, <150 mA (without load) 0.4 m 1.5 MHz SVW SVOW SVSW 0.1 m SVP SVOP SVSP Up to 0.1 m 1 Vpp 20 m 100 kHz 150 m

Supply voltage

44

Single module
5,8 28

Dimensions in mm

38,2

16

10 (CM/2+52,5)

(B1,B2,B3,B4) 0,5 (CM/2+15) 0,5

16

(B1,B2,B3,B4) 0,5 (CM/2+15) 0,5 CM+105 0,1 G 0,03

12 3

74

2xM4

B1

B2

B3

B4

70 - 520 570 - 920 1020 - 1340 1440 - 1740 1840 - 2040 30 0,1 G

200 200 200 200

400 400 400

600 600

800 30

60,2

0,1

48,2 0,5

10,5

60,2

21

12

10 18

13

56 93

I0

Non-distance coded

10 50

50

Nx50

I0

Distance-coded 5

20 10,04

20

20

20

20

Nx20
CM
70 - 1020

10,02 10,06 10,08 10,10

A
35 45

CM G

Measuring length Machine way

1140 - 2040

Order identification
Example of Linear Encoder: SVOP - 420 - 5 - B - A

SV
Type of prole for reduced spaces:  SV: Vibration mounting for up to 20 g.

O
Type of reference mark I0:  Blank space: Incremental, one mark every 50 mm  O: Distance-coded marks  S: Selectable reference marks

P
Type of signal:  X: 1 m resolution differential TTL  Y: 0.5 m resolution differential TTL  W: 0.1 m resolution differential TTL P: 1 Vpp sinusoidal

420
Measuring lengths in millimeters In the example (420) = 420 mm

5
Accuracy of the linear encoder: 5: 5 m 3: 3 m

B
Linear encoder built-in support: B  : With builtin support for vibration up to 20 g

A
Air intake on the reader head:  Blank space: Without air intake  A: With air intake

45

linear

I N C R E M E N T A L

H-D200 series
ANGULAR
Dimensions in mm 5.75 - 4x90 0,25 B
14, 5 79

25

M4 - 4x90 0,3 C

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Natural frequency Shock Inertia Maximum speed Turning torque Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency Consumption without load Supply voltage Reference signal I0 By means of graduated glass disk 2 18 000, 36 000, 90 000, 180 000 and 360 000 100 m/s (55 2000 Hz) IEC 60068-2-6
2

40 3,5 17 5 36,5

1000 Hz 1 000 m/s (6 ms) IEC 60068-2-27


2

10 000 gr. cm2 1 000 rpm 0.5 Nm 3.2 kg

10,5

180 g6

31,7 60 H7 72 H6
0.05

200

188

70

IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal Maximum 150 mA 5 V 5% (TTL); 5V 10% (1 Vpp) One reference signal per encoder turn or I0 distance-coded TTL differential (18 000, 36 000, 90 000, 180 000 and 360 000 Pulses/turn) 1 Vpp (18 000 and 36 000 Pulses/turn) Signals TTL: 50 m 1 Vpp: 150 m

Output signals

Maximum cable length

Order identification
Example of Angular Encoder: HOP - 18000 - D200-2

H
Type of shaft:
 H: Hollow shaft

O
Type of reference mark I0:
 Blank space: Incremental, one per revolution  O: Distance-coded marks

P
Type of signal:
 Blank space: Differential TTL  P: 1 Vpp sinusoidal

18000
18 000: on 1 Vpp and TTL models  36 000: on 1 Vpp and TTL models 90 000: only on TTL models 180 000: only on TTL models 360 000: only on TTL models

D200
 D200: 200 mm

66

0 C+50 C -30 C+80 C

2
Accuracy:
2: 2 arc-seconds

Number of pulses/turn of the rst feedback: Diameter:

46

I N C R E M E N T A L

H-D90 series
ANGULAR
Dimensions in mm
0 ,5 -0

16 ,5

0 11

10

0,2

33 ,5

0 92,5 -1

0 R1

M3 - 4 x90 0,3 A

4, 5

Accuracy

2.5 20 H6 30 H6

5 20 H7 30 H7

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Natural frequency Shock Inertia Maximum speed Turning torque Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency Consumption without load Supply voltage Reference signal I0 By means of graduated glass disk 5 and 2.5 18 000, 90 000 and 180 000 100 m/s2 (55 2 000 Hz) IEC 60068-2-6 1 000 Hz 1 000 m/s2 (6 ms) IEC 60068-2-27 650 gr. cm2 3 000 rpm 0.08 Nm 1 kg -20 C... +70 C (5), 0 C...+50 C (2.5) -30 C+80 C IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal Maximum 150 mA 5 V 5% (TTL); 5V 10% (1 Vpp) One reference signal per encoder turn or I0 distance-coded TTL differential (18 000, 90 000 and 180 000 Pulses/turn) 1 Vpp (18 000 Pulses/turn) Signals TTL: 50 m 1 Vpp: 150 m

D1 D2

6,75 5,8

85 f7

3 0,1

10 52 55

Output signals

Maximum cable length

Order identification
Example of Angular Encoder: HOP - 18000 - D90-2

3,3 -4x90

89,6

35

D1

D2

46 0,1

10

H
Type of shaft:
 H: Hollow shaft

O
Type of reference mark I0:
 Blank space: Incremental, one per revolution  O: Distance-coded marks

P
Type of signal:
 Blank space: Differential TTL  P: 1 Vpp sinusoidal

18000
Number of pulses/turn of the rst feedback:
 18 000: On 1 Vpp and TTL models  90 000: Only on TTL models  180 000: Only on TTL models

D90
Diameter:
D90: 90 mm

2
Accuracy:  Blank space: 5 arc-seconds  2: 2.5 arc-seconds

47

angular and rotary

I N C R E M E N T A L

S-D170 series
ANGULAR
45
Dimensions in mm

160 7,5
39,1

5,5
54

39,5

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Shock Inertia Maximum speed Turning torque Load on the shaft Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency Consumption without load Supply voltage Reference signal I0 By means of graduated glass disk 2 18 000, 90 000 and 180 000 100 m/s2 (55 2000 Hz) IEC 60068-2-6 300 m/s2 (6 ms) IEC 60068-2-27 350 gr. cm2 3 000 rpm 0.01 Nm Axial: 1 kg Radial: 1 kg. 2.65 kg 0 C+50 C -30 C+80 C IP64 (DIN 40050) standard > IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal Maximum 250 mA 5 V 5% (TTL); 5V 10% (1 Vpp) One reference signal per encoder turn or I0 distance-coded TTL differential (18 000, 90 000 and 180 000 Pulses/turn) 1 Vpp (18 000 Pulses/turn) Signals TTL: 50 m 1 Vpp: 150 m

90 0,06 A 0,06 A

0,025 A

0,1

0,1 A

10

170 h7

140 h6

14 h6

M6x8

6
150

3 4 14 50

Output signals

Maximum cable length

Order identification
Example of Angular Encoder: SOP - 18000 - D170-2

S
Type of shaft:
 S: Solid shaft

O
Type of reference mark I0:
 Blank space: Incremental, one per revolution  O: Distance-coded marks

P
Type of signal:
 Blank space: Differential TTL  P: 1 Vpp sinusoidal

18000
Number of pulses/turn of the rst feedback:
 18 000: on 1 Vpp and TTL models  90 000: only on TTL models 180 000: only on TTL models

D170
Diameter:

2
Accuracy:

 D170: 170 mm 2: 2 arc-seconds

48

I N C R E M E N T A L

S-1024-D90 series
ANGULAR
Dimensions in mm
33 ,5 13 ,5 5

, 16

4,

1,

25

R10

45

0 92,5 -1

R2,25
5

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Shock Inertia Maximum speed Turning torque Load on the shaft Weight Ambient characteristics: Running temperature Storage temperature Protection Maximum frequency Consumption without load Supply voltage Reference signal I0 By means of graduated glass disk 5 90 000-1 024 / 18 000-1 024 100 m/s2 (55 2000 Hz) IEC 60068-2-6 1 000 m/s2 (6 ms) IEC 60068-2-27 240 gr. cm2 0.01 Nm Axial: 1 kg Radial: 1 kg. 0.8 kg -20 C+70 C -30 C+80 C IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal Maximum 250 mA 5 V 5% (TTL); 5V 10% (1 Vpp) One reference signal per encoder turn or I0 distance-coded TTL differential (18 000 and 90 000 Pulses/turn) 1 Vpp (18 000 Pulses/turn) TTL differential (1 024 Pulses/turn) 1 Vpp (1 024 Pulses/turn) Signals TTL: 50 m 1 Vpp: 150 m 10 000 rpm

10 0

0 11

0,2

-1

0,08 A
0 20 -1

5,8

10 h6

6,75 B A
0 90 -1

80 h7 0,08 B

0,01 A

3 0,2 13

42 +1 0

Output signals 1st Feedback Output signals 2nd Feedback Maximum cable length

Order identification
Example of Angular Encoder: SOP - 18000-1024 - D90

S
Type of shaft:
 S: Solid shaft

O
Type of reference mark I0:
 Blank space: Incremental, one per revolution  O: Distance-coded marks

P
Type of signal:
B  lank space: TTL difererncial P  : 1 Vpp sinusoidal

18000-1024
Number of pulses/turn:  18 000-1024: On 1 Vpp and TTL models  90 000-1024: Only on TTL models

D90
Diameter:
D90: 90 mm

49

angular and rotary

I N C R E M E N T A L

S-D90 series
ANGULAR
Dimensions in mm 16,5
0 110 -0,5

R1

100 0,2
33 ,5
45

0 92,5 -1

5 4,5 5

General characteristics
Measurement Accuracy Number of pulses/turn Vibration Shock Inertia Maximum speed Turning torque Load on the shaft Weight Ambient characteristics:: Running temperature Storage temperature Protection Maximum frequency Consumption without load Supply voltage Reference signal I0 By means of graduated glass disk 5 and 2.5 18 000, 90 000 and 180 000 100 m/s2 (55 2000 Hz) IEC 60068-2-6 1 000 m/s2 (6 ms) IEC 60068-2-27 240 gr. cm2 10 000 rpm 0.01 Nm Axial: 1 kg Radial: 1 kg. 0.8 kg -20 C... +70 C (5), 0 C...+50 C (2.5) -30 C+80 C IP64 (DIN 40050) standard >IP64 with pressurized air at 0.8 0.2 bar 180 kHz for 1 Vpp signal 1 MHz for TTL signal Maximum 150 mA 5 V 5% (TTL); 5 V 10% (1 Vpp) One reference signal per encoder turn or I0 distance-coded TTL differential (18 000, 90 000 and 180 000 Pulses/turn) 1 Vpp (18 000 Pulses/turn) Signals TTL: 50 m 1 Vpp: 150 m

0,08 A
0 20 -1

5,8

10 h6

6,75 B A
0 90 -1

80 h7
0,01 A

0,08 B

3 0,2 13 42 +1 0

Output signals

Maximum cable length

Order identification
Example of Angular Encoder: SOP - 18000 - D90-2

S
Type of shaft:
 S: Solid shaft

O
Type of reference markI0:
 Blank space: Incremental, one per revolution  O: Distance-coded marks

P
Type of signal:
 Blank space: Differential TTL  P: 1 Vpp sinusoidal

18000
Number of pulses/turn of the rst feedback
 18 000: On 1 Vpp and TTL models  90 000: Only on TTL models  180 000: Only on TTL models

D90
Diameter:
D90: 90 mm

2
Accuracy:  Blank space: 5 arc-seconds  2: 2.5 arcseconds

50

51

angular and rotary

I N C R E M E N T A L

H, S series
ROTARY

General characteristics
S Measurement Accuracy Maximum speed Vibration Shock Inertia Turning torque Type of shaft Maximum load on the shaft Weight Ambient characteristics: Running temperature Storage temperature Relative humidity Protection Light source Maximum frequency Reference signal I0 Supply voltage Consumption Output signals Maximum cable length 5V 5% (TTL) 0 C+70 C -30 C+80 C 98% non-condensing IP 64 (DIN 40050). On S and SP models: Optional IP 66 IRED (InfraRed Emitting Diode) 200 kHz One reference signal per encoder turn 5V 10% (1 Vpp) 5V 5% (TTL) 5V 10% (1 Vpp) Solid shaft Axial: 10 N Radial: 20 N 0.3 kg SP H / HA HP Up to 625 pulses/turn: By means of perforated metallic disk From 625 pulses/turn on: By means of graduated glass disk 1/10 of the pitch 12000 rpm 100 ms2 (10 2000 Hz) 300 ms2 (11ms) 16 gr. cm
2

Number of pulses/turn
S 100 200 250 400 500 600 635 1 000 Hollow shaft 1 024 1 250 1 270 1 500 2 000 2 500 3 000 5 000 SP 1 000 1 024 1 250 1 270 1 500 2 000 2 500 3 000 3 600 4 320 5 000 H 100 200 250 400 500 600 635 1 000 1 024 1 250 1 270 1 500 2 000 2 500 3 000 HA 1 024 1 800 2 000 2 048 2 500 3 000 3 600 4 000 4 096 5 000 10 000 HP 1 000 1 024 1 250 1 270 1 500 2 000 2 500 3 000

0.003 Nm (30 gr. cm) max. at 20 C

70 mA typical, 100 mA max. (without load) TTL differential 50 m 1 Vpp 150 m TTL differential 50 m 1 Vpp 150 m

52

S, SP model
0,05 B

0,08 A B
-0,008 -0,018

Dimensions in mm

3x 120

50 h7

58

3xM 4 (r.u. 7,5)


42

0,03 A 10

3 7 10 60 11 13

13

A Roller bearings

H, HP model
L
D g7 mm 3 4 6.35 7 L: Min. 9 mm, max. 16 mm 8 9.53 10

min. 9mm max. 16mm D

Shaft L 58 50 h7

3 7 10 60 2,5 2 A

11 13

43

HA model

58 30

A H7 15 50 f18

20

0,

42

3x 120

0,5 Allen M3 x 12 0,1 A

39 42 48,5

14 0,5

60
3 x 120 a M4 x 5

Order identification - models H, HP, S and SP


Example for a Rotary Encoder: SP-1024-C5-R-12-IP 66

S
Model:  S: Solid shaft  H: Hollow shaft

P
Type of signal:  Blank space: square signal (TTL or HTL)  P: 1 Vpp sinusoidal signal

1024
Number of pulses/turn (See table page 52)

C5
Type of connector: Blank space: 1m cable without connector  C: Flange socket CONNEI 12  C5: 1m cable with CONNEI 12 connector

R
Cable exit: R: Radial Blank space: Axial

12
Voltaje:  Blank space: Standard 5 V supply  12: Optional 12 V supply (only for HTL signal)

IP 66
Protection:  Blank space: Standard protection (IP 64)  IP 66: Protection IP 66

Example for a Rotary Encoder: HA - 22132 - 250

HA
In all cases

2
Type of clamp:  1: Rear clamp  2: Front clamp

2
Size of the hollow shaft (A):  1: 10 mm  2: 12 mm

1
Output signals:  1: A, B, I0 plus their inverted

3
Type of connection: 1: Radial cable (2 m)  2: CONNEI 12 radial connector built into it  3: Radial cable (1 m) with CONNEI 12 connector

2
Supply voltage: 1  : Push-Pull (11-30 V) 2: RS-422 (5 V)

2500
Number of pulses/ turn (See table page 52)

53

angular and rotary

Order identification - HA model

mx: 12

4H

13

R7

13

R7

I N C R E M E N T A L

Direct connection cables


Connection to FAGOR CNC
UP TO 12 METERS

ECP-D
Lengths: 1, 3, 6 and 9 meters
SUB D 15 HD connector (male Pin )

Pin
1 2 3 4 5 6 9 11 15 Housing

Signal
A /A B /B

Color
Green Yellow Blue Red Grey Pink Brown White shield shield

I0 I0
+5 V 0V Ground Ground

FROM 12 METERS ON EC-...A-C1 cable + XC-C2 D extension cable

ECA-C1
Lengths: 1 and 3 meters
12 CIRCULAR connector (male Pin )

XC-C2-...D extension cable


Lengths: 5, 10, 15, 20, and 25 meters
12 CIRCULAR connector (female Pin SUB D 15 HD connector (male Pin ) )

Pin
5 6 8 1 3 4 7 12 2 10 11 Housing

Signal
A /A B /B

Color
Green Yellow Blue Red Grey Pink Purple Brown

Pin
5 6 8 1 3 4 7 12

Pin
1 2 3 4 5 6 7 9 9 11 11

Seal Color
A /A B /B Brown Green Grey Pink Red Black Purple Brown/ Green Blue White/ Green White shield

I0 I0
/Alarm +5 V +5 V sensor 0V 0V sensor Ground

I0 I0
/Alarm 5V +5 V sensor 0V 0V sensor

White

2 10

shield

11

Housing Housing Ground

54

Connection to other CNCs


UP TO 12 METERS For direct connection to FANUC (second feedback) For direct connection to SIEMENS, HEIDENHAIN, SELCA, and others.

EC-...C-FN1
Lengths: 1, 3, 6 and 9 meters
HONDA / HIROSE connector (female Pin )

ECAS-H
Lengths: 1, 3, 6, 9 and 12 meters
SUB D 15 HD connector (female Pin )

Pin
1 2 3 4 5 6 9 18-20 12 14 16 Housing

Signal
A /A B /B

Color
Green Yellow Blue Red Grey Pink Brown

Pin
3 4 6 7 10 12 1 9 2 11 Housing

Signal
A /A B /B

Color
Green Yellow Blue Red Grey Pink Brown Purple White Black shield

I0 I0
+5 V +5 V sensor 0V 0V sensor Ground Ground

I0 I0
+5 V +5 V sensor 0V 0 V sensor Ground

White

Internal shield External shield

Without a connector at one end; for other applications.

ECAS-O
Lengths: 1, 3, 6, 9 and 12 meters Signal
A /A B /B

Color
Green Yellow Blue Red Grey Pink Brown Purple White Black shield

I0 I0
+5 V +5 V sensor 0V 0 V sensor Ground

FROM 12 METERS ON EC-...A-C1 cable + XC-C2 H extension cable

XC-C2 FN1extension cable


Lengths: 5, 10, 15, 20, and 25 meters
12 CIRCULAR connector (female Pin SUB D 15 HD connector (male Pin ) )

XC-C2 H extension cable


Lengths: 5, 10, 15, 20, and 25 meters
12 CIRCULAR connector (female Pin SUB D 15 HD connector (male Pin ) )

Pin
5 6 8 1 3 4 12 2 10 11 Housing

Pin
1 2 3 4 5 6 9 18-20 12 14 16

Signal Color
A /A B /B Brown Green Grey Pink Red Black Brown/ Green Blue White/ Green White Shield

Pin
5 6 8 1 3 4 12 2 10 11 Housing

Pin
3 4 6 7 10 12 1 9 2 11 Housing

Signal Color
A /A B /B Brown Green Grey Pink Red Black Brown/ Green Blue White/ Green White Shield

I0 I0
+5 V +5 V sensor GND GND sensor Ground

I0 I0
+5 V +5 V sensor 0V 0V sensor Ground

55

A N G U L A R

accessories
Couplings for solid-shaft encoders In order to ensure the accuracy of the solid-shaft angular encoder, it is a must to use couplings that provide them with long lasting stability. Fagor Automation recommends using our AA and AP couplings that have been designed for our encoders and provide a guarantee that other couplings cannot. AA Model The AA model comes in three versions depending on the diameter of the coupling as shown in the table below:

E N C O D E R S

14 F7

3 20
a mm 10 10 14 b mm 10 14 14
20 3

70 F7

88 98

Model AA 10/10 AA 10/14 AA 14/14

AP 14 model

78 68

10 F7

M22x1 28H7

50g6

14

M6

AP 10 model

Specific characteristics
AA 10/10 AA 10/14 AA 14/14 Maximum radial misalignment permitted 0.3 mm Maximum angular misalignment permitted 0.5 0.5 0.2 0.3 mm 0.3 mm AP 10 AP 14

Maximum axial misalignment permitted 0.2 mm Kinematic transfer error 2 if <0.1 mm and 0.09 0.2 Nm 1 500 Nm/rad. 10 000 rpm 93 gr 20 x 10-6 kg/m2 0.2 mm 3 if <0.1 mm and 0.09 0.5 Nm 1 400 Nm/rad. 1 000 rpm 128 gr 100 x 10-6 kg/m2 0.1 mm 2 if <0.1 mm and 0.09 0.5 Nm 6 000 Nm/rad. 1 000 rpm 222 gr 200 x 10-6 kg/m2

Maximum torque that may be transmitted Torsion rigidity Maximum rotating speed Weight Inertia

56

5 ,5

R O T A R Y

accessories
Coupling caps (solid shaft)
40

E N C O D E R S

25,4

19,6

20

25

19,2

AF model

AC model

AL model

Specific characteristics
AF Maximum radial misalignment permitted 2 mm Maximum angular misalignment permitted 8 5 4 1 mm 0.2 mm AC AL

Maximum axial misalignment permitted 1.5 mm Maximum torque that may be transmitted Torsion rigidity Maximum rotating speed 2 Nm 1.7 Nm/rad.

1.7 Nm 50 Nm/rad. 12 000 rpm

0.2 mm 0.9 Nm 150 Nm/rad.

AH coupling caps Rotary encoders: coupling caps (hollow shaft) The hollow shaft encoders are accompanied by a standard 6 mm cap diameter ( 6). Can also be supplied in the following diameters: 3, 4, 6, 7, 8 and 10 mm, 1/4 and 3/8.

AD washer

3.8 -1

+0

1,2

9 -0,3

-0,1

4,5

1,5

12

57

L I N E A R

accessories
Protection
Enclosed linear encoders meet the protection requirements IP 53 of the IEC 60 529 standard when mounted so water splashes dont hit the sealing lips directly. For further protection, a separate protection guard must be mounted. AI-400 filter The air coming from an compressed air supply must be treated and ltered in the AI-400 unit which consists of: F  iltering and pressure regulating group. F  ast inlets and joints for 4 measuring systems. A  plastic tube 25 m long with an inside diameter of 4 mm and outside diameter of 6 mm. AI-500 filter Under extreme conditions where the air must be dried, Fagor Automation recommends using their air lter AI-500. This includes a drying module that makes it possible to reach the conditions required by Fagor Automation feedback systems.

A N D

A N G U L A R

E N C O D E R S

If the encoder is exposed to concentrated liquids and vapor, compressed air may be used to achieve a protection degree of IP 64 and prevent any contamination from getting inside. For these cases, Fagor Automation recommends their Air lter units AI-400 and AI-500.

AI-500 filter MODELS For 2 axes: For 4 axes: For 6 axes: AI-525 AI-550 AI-590

Filters AI-400 / AI-500 Technical Characteristics Maximum input pressure Maximum operating temperature Output pressure of the unit Consumption per measuring system Safety Standard 10.5 kg/cm 52 C 1 kg/cm2 10 l/min. Micro-lter saturation alarm
2

Special 14 kg/cm 80 C

Air conditions (Meets the standard DIN ISO 8573-1) Fagor Automation linear feedback systems require the following air conditions: Class 1 - Maximum particle 0.12 Class 4 (7 bars) - Dew point 3 C Class 1 - Maximum oil concentration: 0.01 mg/m3.

Safety switch It consists of a pressostat capable of activating an alarm switch when the pressure gets below 0.66 kg/cm2. Technical data: The switching pressure may be adjusted between 0.3 and 1.5 kg/cm2. Load: 4 A. Voltage: 250 V approx. Protection: IP65.

58

SIEMENS is a registered trademark of SIEMENS Aktiengesellschaft, PANASONIC is a registered trademark of PANASONIC Corporation, FANUC is a registered trademark of FANUC Ltd. and MITSUBISHI is a registered trademark of MITSUBISHI Shoji Kaisha, Ltd.

Fagor Automation shall not be held responsible for any printing or transcribing errors in the catalog and reserves the right to make any changes to the characteristics of its products without prior notice. You must always compare the data with that appearing in the manual that comes with the product.

Fagor Automation, S. Coop. B San Andrs, 19 E-20500 Arrasate - Mondragn SPAIN Tel.: +34 943 719 200 Fax.: +34 943 791 712 E-mail: info@fagorautomation.es

ER-073/1994

Fagor Automation holds the ISO 9001 Quality System Certicate and the Certicate for all products manufactured.

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Headquarters
MONDRAGN

asia

BANGALORE BANGKOK CHENGDU GUANGZHOU HO CHI MINH CITY HONG KONG ISLAMABAD JAKARTA KUALA LUMPUR MANILA NANJING SHANGHAI SEOUL SINGAPORE TAICHUNG TEHRAN TEL-AVIV

africa

JOHANNESBURG

oceania
AUCKLAND DUNEDIN MELBOURNE SYDNEY

worldwide automation