ABSOLUTE ROTARY ENCODER WITH DEVICE NET INTERFACE

USER MANUAL

Page1
 CONTENTS

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Document information
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Date: 07/05
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Author: KMA/EIO
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the information contained herein. Further, this
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For technical support, questions and
subject to change without notice.
suggestions for improving our products and
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Technical specifications, which are described in
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Page 2
1. Introduction ..................................................... 4 Clamp flange (C10) ..............................................37
1.1 Control and Information Protocol (CIP) ............ 5 Clamp flanch (S), 5 pin connector ........................38
1.2 Object modell ................................................... 6 Hollow Shaft (B) ...................................................39

2. Data Transmission.......................................... 7 Mounting instructions hollow shaft.................39

2.1. The Object Dictionary ..................................... 7 Heavy Duty version ...........................................40
2.2 Definition of the CAN-ID................................... 8 Main features .......................................................40
3. Programmable Parameters ............................ 9 Heavy Duty version with blind shaft .....................41
3.1. Encoder parameters ....................................... 9 10. Versions / Order Description......................42
3.1.2. Resolution per revolution ............................. 9
3.1.5. MAC-ID ...................................................... 11
3.1.6. Baudrate .................................................... 11
4. Operating Mode............................................. 12
4.1. Polled Mode .................................................. 12
4.2. Change of State Mode .................................. 14
4.3. Saving Parameter ......................................... 16
5. Transmission of the actual position............ 16
6. Installation ..................................................... 17
6.1. Electrical connection ..................................... 17
6.2. Setting of the baudrate.................................. 18
6.3 Cabel ............................................................. 18
6.3 Connector ...................................................... 18
7. Power On ....................................................... 19
7.1. Operating Mode ............................................ 19
7.2. Programming ................................................ 19
7.2.1. Operating Parameter ................................. 19
7.2.3. Total resolution .......................................... 20
7.2.4. Preset Value .............................................. 21
7.2.5. MAC-ID ...................................................... 22
7.2.6. Baudrate .................................................... 22
8. RsNetworx ..................................................... 24
8.1. EDS Wizard .................................................. 24
8.2 Driver Configuration ....................................... 26
8.3 Network Connection....................................... 28
9. Technical Data............................................... 31
9.1 Electrical Data................................................ 31
9.2 Mechanical Data ............................................ 31
9.3 Minimum (mechanical) lifetime....................... 32
9. 4 Environmental Conditions ............................. 32
Mechanical Drawings ....................................... 33
Synchro flange (S) ............................................ 36

Page3
1. Introduction
Absolute rotary encoders provide a definite value The integrated CAN-Bus interface of the absolute
for every possible position. All these values are rotary encoder supports all of the DeviceNet
reflected on one or more code discs. The beams of functions. The following modes can be
infrared LEDs are sent through code discs and programmed and enabled or disabled:
detected by Opto-Arrays. The output signals are - Polled Mode
electronically amplified and the resulting value is - Change of State
transferred to the interface. The protocol supports the programming of the
following additional functions:
The absolute rotary encoder has a maximum Code sequence (Complement)
resolution of 65536 steps per revolution (16 Bit). Resolution per revolution
The Multi-Turn version can detect up to 16384 Total resolution
revolutions (14 Bit). Therefore the largest resulting Preset value
resolution is 30 Bit = 1.073.741.824 steps. The Baudrate
standard Single-Turn version has 12 Bit, the MAC-ID
standard Multi-Turn version 24 Bit.
The general use of absolute rotary encoders with
DeviceNet interface is guaranteed.

Page 4
1.1 Control and Information Protocol (CIP)

The DeviceNet specification defines the CIP (Common Industrial Protocol) make for the
Application Layer and the Physical Layer. The user available four essential functions:
Data Link layer is based on the CAN-
specification. For the optimal industrial control • Unique control service
will be defined two different messaging types. • Unique communication service
I/O messaging (Implicit Messaging ) and explicit • Unique allocation of messaging
messaging.With Implicit Messaging becoming • Common knowledge base
I/O data exchanged in realtime and with Explicit
Messaging becoming data exchanged to
configure a device.

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1.2 Object modell

DeviceNet describes all data and functions of a device considering as object model. By means of that
object-oriented description a device can be defined complete with single objects. A object is defined across
the centralization by associated attributes (e.g. processdata), his functions (read- or write access of a
single attribute) as well as by the defined behaviour.

DeviceNet distinction is drawn between three different objects:

• Communication object
Define the exchange messages over DeviceNet and becoming designated as Connection Objects.
(DeviceNet Object, Message Router Object, Connection Object, Acknowledge Handler Object)
• System objects
Define common DeviceNet-specific data and functions. (Identity Object, Parameter Object)
• Applications-specific objects
Define device-specific data and functions. (Application Object, Assembly Object)

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2. Data Transmission
The data transmission in the DeviceNet network CAN-ID Message Header Message Body
is realised by message telegrams. Basically, 11 Bit 1 Byte 7 Byte
these telegrams can be divided into the CAN-ID
and 8 following bytes as shown in the table
below:

2.1. The Object Dictionary

Instance Attribute of the Position Sensor Objects

Class Code: 23 hex

Attribute
Access Name Data Type Description
ID
1 hex Get Number of Attributes USINT Number of supported Attributes
2 hex Get Attribute Array of USINT List of supported Attribute
3 hex Get Position value DINT current position
70 hex Get / Set Code sequence Boolean Controls the code sequence
clockwise or counterclockwise
71 hex Get / Set resolution per revolution INT resolution for one revolution
72 hex Get / Set total resolution DINT total measurable resolution
73 hex Get / Set preset value DINT setting a defined position value
6E hex Get / Set Baudrate Adjustment of the Baudrate
6F hex Get / Set MAC ID Adjustment of the MAC ID

Get / Set: : read, write

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2.2 Definition of the CAN-ID
DeviceNet is based on the standard CAN- CAN-Identifier consists of the Message Group,
protocol and used a 11Bit (2048 specifiable Message ID and the MAC ID of the device.
messages) messages identifier. For the By our absolute rotary encoder it is a matter of a
identification of a device in a DeviceNet network Group 2 Messages. In the table below a user
are 6Bit enough because a network belongs 64 can see the importance CAN-IDs for a certain
nodes. That nodes will be call MAC-ID. The communication type.
.

10 9 8 7 6 5 4 3 2 1 0 Identity Hex
Usage Range
0 Group 1 Source MAC ID GROUP 1 Message 000-3ff
Message ID
0 1 1 0 1 Source MAC ID Slave’s I/O Change of State or Cyclic Message
0 1 1 1 1 Source MAC ID Slave’s I/O Poll Response or Change of State/Cyclic
Acknowledge Message
1 0 MAC ID Group 2 GROUP 2 Messages 400 - 5ff
Message
ID
1 0 Destination MAC 0 1 0 Master’s Change of State or Cyclic Acknowledge
ID Message
1 0 Source MAC ID 0 1 1 Slave’s Explicit/Unconnected Response Messages
1 0 Destination MAC 1 0 0 Master’s Explicit Request Message
ID
1 0 Destination MAC 1 0 1 Master’s I/O Poll Command/Change of State/Cyclic
ID Message
1 0 Destination MAC 1 1 0 Group 2 Only Unconnected Explicit Request Message
ID (reserved)
1 0 Destination MAC 1 1 1 Duplicate MAC ID Check Messages
ID

Page 8
3. Programmable Parameters
3.1. Encoder parameters
3.1.1. Operating Parameter

The operating parameter can be used to select the

code sequence.

Attribute ID Default value Value range Data Type

70 hex 1 hex 0 hex - 1hex Boolean

The parameter code sequence (complement)

Bit 0 Drehrichtung Ausgabecode
defines the counting direction of the process value
1 CW Steigend
as seen on the shaft whether clockwise or
0 CCW Fallend
counter clockwise. The counting direction is
defined in the attribute 0b hex:

3.1.2. Resolution per revolution

The parameter resolution per revolution is used to steps per revolution. Each value between 1 and
program the encoder to set a desired number of the maximum (see type shield) can be realised

Attribute ID Default value Value range Data Type

71 hex (*) 0hex - 2000hex Unsigned Integer16

(*) see type shield, Maximum resolution:

12/24 Bit Encoder: 1,000 hex (4096)
13/25 Bit Encoder: 2,000 hex (8192)

When the value is set larger than 4096 (8192 for a be skipped while rotating the shaft. So, it is
13/25 Bit encoder), the process value of the recommended, to keep the measuring steps per
encoder will not be single stepped and values will revolution below 4096 (8192) measuring steps.

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3.1.3. Total resolution

This value is used to program the desired number (25 bit = 33,554,432 steps). Please note the value
of measuring steps over the total measuring range. written on the type shield.
This value must not exceed the total resolution of
the encoder with 24 bit = 16,777,216 steps

Attribute ID Default value Value range Data Type

72 hex (*) 0h - 2,000,000h Unsigned Integer 32

(*) see type shield

Maximum total resolution
24 Bit Encoder: 1,000,000 hex
25 Bit Encoder: 2,000,000 hex

Attention: Total resolution

The following formula letters will be used: GA = PGA * AU / PAU, if AU < PAU
- PGA Physical total resolution of the encoder Example: Customer requirement: AU = 2048,
(see type shield) Encoder type shield: PGA=24 bit, PAU=12 bit
- PAU Physical resolution per revolution (see GA = 16777216 * 2048 / 4096
type shield) GA = 8388608
- GA Total resolution (customer parameter)
- AU Resolution per revolution (customer If the total resolution of the encoder is less than the
parameter) physical total resolution, the parameter total
resolution must be a multiple of the physical total
If the desired resolution per revolution is less than resolution:
the physical resolution per revolution of the - k = PGA / GA
encoder, then the total resolution must be entered - k = integer
as follows:

3.1.4. Preset value

The preset value is the desired position value, encoder is set to the desired process value by
which should be reached at a certain physical the parameter preset. The preset value must not
position of the axis. The position value of the exceed the parameter total measuring units

Attribute ID Default value Value range Data Type

73 hex 0 hex 0hex - total measuring range Unsigned Integer 32

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3.1.5. MAC-ID

Attribute ID Default value Value range Data length

6F hex 0 hex 0hex – 3Fhex BYTE

Each node in a Device Net network is identified 64 nedoes. The MAC-ID can only be adjusted
using a MAC-ID (Media Access Control via explicit messaging. The default MAC-ID is
Identifier). Every device needs an explicit and setting on d63.
unique MAC-ID. A Device Net netwok supports

3.1.6. Baudrate

Attribute ID Default value Value range Data length

6E hex 0 hex 0hex - 2hex BYTE

Device Net supports three different baurates that baudrate has to be the same as the Device Net
are being showed in the below table. The network baudrate. The default baudrate is
baudrate can be changed via explicit messages setting 125kBaud.
and stored in the EEPROM with a save
command. It is to insure that the selective

0x Baudrate in kBaud
0 125
1 250
2 500

Page11
4. Operating Mode
4.1. Polled Mode

For switching the polled mode on the following following example a master MAC ID of 0A hex and
telegrams are needed. Further it is assumed in the a slave MAC ID of 03 hex.

Allocate Master / Slave Connection Set

1. Allocate Polling

Byte Offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Frag [0] XID MAC ID
1 R/R [0] Service [4B]
Class ID [03]
Instance ID [01]
Allocation Choice [03]
0 0 Allocator MAC ID

Definition CAN ID
10 9 8 7 6 5 4 3 2 1 0 Identity Hex
Usage Range
1 0 Destination MAC 1 1 0 Group 2 Only Unconnected Explicit Request
ID Message (reserved)

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
41E 0A 4B 03 01 03 0A

1. Setting the Expected_packet_rate of the Explicit Message Connection on 0:

Definition CAN-ID
10 9 8 7 6 5 4 3 2 1 0 Identity Hex
Usage Range
1 0 Destination MAC 1 0 0 Master´s Explicit Request Message
ID

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Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
41C 0A 10 05 01 09 00 00

1. Setting the Expected_packet_rate of the Polling Connection on 0:n:

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
41C 0A 10 05 02 09 00 00

Release Master / Slave Connection Set

Release Polling
Byte Offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Frag [0] XID MAC ID
1 R/R [0] Service [4C]
Class ID [03]
Instance ID [01]
Release Choice [03]

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4
41E 0A 4C 03 01 03

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4.2. Change of State Mode

The absolute rotary encoder sends data, without position value is not changing. This results in a
any request from the host, when the actual process reduced bus loading.
value is changing. No telegram will occur when the

Allocate Master / Slave Connection Set

Allocate COS

Byte Offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Frag [0] XID MAC ID
1 R/R [0] Service [4B]
Class ID [03]
Instance ID [01]
Allocation Choice [51]
0 0 Allocator MAC ID

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5
41E 0A 4B 03 01 51 0A

2. Setting Expected_packet_rate of the Explicit Message Connection on 0:

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
41C 0A 10 05 01 09 00 00

3. Setting Expected_packet_rate of the Change of State Connection on 0:

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6
41C 0A 10 05 04 09 00 00

Page 14
Release Master / Slave Connection Set

Release COS
Byte Offset Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 Frag [0] XID MAC ID
1 R/R [0] Service [4C]
Class ID [03]
Instance ID [01]
Release Choice [51]

Example:
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4
41E 0A 4C 03 01 51

Page 15
4.3. Saving Parameter

The parameters of the absolute rotary encoder are examination, those values can be saved in the
saved in a non-volatile FLASH memory. Because FLASH memory. After successful saving of the
of a limited number of writing cycles (≈ 1,000), it is parameter the encoder sends his MAC-ID on the
useful to transmit the modified parameter in the bus. To get the process value a new allocation of
first step only in the RAM area. After adjusting and the slave is required.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Offset
0 Frag [0] XID MAC ID
1 R/R [0] Service [32]
Class ID [23]
Instance ID [01]

Example:
(MAC-ID Master: 0A hex, MAC-ID Slave: 03 hex)
CAN-ID Byte 0 Byte 1 Byte 2 Byte 3
41C 0A 32 23 01

5. Transmission of the actual position

The process value is transmitted according to the
following table.

CAN-ID process value

11 Bit Byte 0 Byte 1 Byte 2 Byte 3
7 0 15 8 23 16
2 to 2 2 to 2 2 to 2 231 to 224

Page 16
6. Installation
6.1. Electrical connection

The rotary encoder is connected by three cables. There is a resistor provided in the connection cap,
The power supply is achieved with a two-wire which must be used as a line termination on the
connection cable through one PG 9. Each one of last device
the twisted-pair and shielded bus lines are guided
in and out through two PG 9 on the right side (as Resistor:
seen on clamps)
Last Device Device X

RT RT RT
ON
ON ON

The setting of the node number is achieved by 2

turn-switches in the connection cap. Possible
+ - G L H G L H addresses lie between 0 and 63 whereby every
901 901 901
address can only be used once. 2 LEDs on the
78

78
78

23

23
23

456 456 456

Bd x10 x1 backside of the connection cap show the operating

DeviceNet Devices
BCD coded rotary switches
Device adress 0...63
x1 Setting CAN-node number
x10
xBd Setting of the baud-rate

status of the encoder.

Clamp Description
⊥ Ground
+ 24 V Supply voltage
- 0 V Supply voltage
CG CAN Ground
CL CAN Low
CH CAN High
CG CAN Ground
CL CAN Low
CH CAN High

Page 17
6.2. Setting of the baudrate

Baudrate in kBit/s BCD coded rotary switches

125 0
250 1
500 2
125 3
reserved 4...9

6.3 Cabel

Pin Signal Description Color

1 V- GND Black
2 CAN-L CAN Bus signal (dominant low) Blue
3 CAN-H CAN Bus signal (dominant high) White
4 V+ External voltage supply Vcc Red

6.3 Connector

Pin Signal Description Color

2 V+ External voltage supply Vcc Red
3 V- GND Black
4 CAN-H CAN Bus signal (dominant high) White
5 CAN-L CAN Bus signal (dominant low) Blue

4 3

1 2

5 pin connector

Page 18
7. Power On
7.1. Operating Mode

After power on the absolute rotary encoder sends

two times his MAC ID telegram on the bus.

7.2. Programming

If some parameters should not be modified you format. In the examples, the CAN ID and MAC ID
can skip over this chapter. are 0A (hex) and for the slave 03 (hex).
The following numbers are given in hexadecimal The changeable values are written in an italics.

7.2.1. Operating Parameter

Master to absolute rotary encoder: Set-Parameter

CAN ID MAC ID Service Class Instance Attribute Data
Code ID ID ID
Byte 0 Byte1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 0A 10 23 01 70 X - -
X: 1 hex for CW (Default)
0 hex for CCW

Absolute Rotary Encoder to Master: Confirmation

CAN ID MAC ID Service Code
Byte 0 Byte 1
41B 0A 90

7.2.2. Resolution per revolution

Master to Absolute Rotary Encoder: Set-Parameter

CAN ID MAC ID Service Class Instance Attribute Data
Code ID ID ID
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 0A 10 23 01 71 X X -
X: desired resolution per revolution

Page 19
Absolute rotary encoder to master: Confirmation
CAN ID MAC ID Service Code
Byte0 Byte1
41B 0A 90

7.2.3. Total resolution

A fragmented transmission is needed, when the

total resolution must be sent to the encoder.
So here are more messages necessary.

Master to Absolute Rotary Encoder: Set-Parameter

CAN ID MAC ID Fragment Service Class Instance Attribute
Code ID ID ID
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 8A 00 10 23 01 72 X X

Absolute Rotary Encoder to Master: Confirmation

CAN ID MAC ID
Byte0 Byte 1 Byte 2
41B 8A C0 00

Master to Absolute Rotary Encoder: Set-Parameter

CAN ID MAC ID Fragment
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 8A 81 X X - - - -
X: desired total resolution

Absolute Rotary Encoder to Master: Confirmation

CAN ID MAC ID
Byte0 Byte 1 Byte 2
41B 8A C1 00

Absolute Rotary Encoder to Master: Confirmation

CAN ID MAC ID Service Code
Byte0 Byte1
41B 0A 90

Page 20
7.2.4. Preset Value

Master to Absolute Rotary Encoder: Set-Parameter

CAN ID MAC ID Fragment Service Class Instance Attribute
Code ID ID ID
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 8A 00 10 23 01 73 X X
X: desired preset value

Absolute Rotary Encoder to Master Confirmation

CAN ID MAC ID
Byte0 Byte 1 Byte 2
41B 8A C0 00

Master to Absolute Rotary Encoder: Set-Parameter

CAN ID MAC ID Fragment
Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 8A 81 X X - - - -
X: desired preset value

Absolute Rotary Encoder to Master Confirmation

CAN ID MAC ID
Byte0 Byte 1 Byte 2
41B 8A C1 00

Absolute Rotary Encoder to Master: Confirmation

CAN ID MAC ID Service Code
Byte0 Byte1
41B 0A 90

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7.2.5. MAC-ID

Master to encoder: Set-Parameter

CAN ID MAC ID Service Class Instance Attribute Data
Code ID ID ID
Byte0 Byte1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 0A 10 23 01 6F X - -
X:Value of the MAC-ID

Encoder to Master: Confirmation

CAN ID MAC ID Service Code
Byte0 Byte1
41B 0A 90

7.2.6. Baudrate

Master to encoder: Set-Parameter

CAN ID MAC ID Service Class Instance Attribute Data
Code ID ID ID
Byte0 Byte1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
41C 0A 10 23 01 6E X - -
X: Value of the Baudrate

X Baudrate
o 125kbaud
1 250kbaud
2 500kbaud

Encoder to Master: Confirmation

CAN ID MAC ID Service Code
Byte0 Byte1
41B 0A 90

Page 22
7.2.7. Parameter Saving

Master to Absolute Rotary Encoder: Set-Parameter

CAN ID MAC ID Service Code Class ID Instance ID
Byte0 Byte1 Byte 2 Byte 3
32 23 01

If the transfer has been successful, the absolute If the transfer is not successful, an error
rotary encoder responds after 3-4s with the message will be sent. The service code used to
Duplicate MAC-ID. After that the master must save the parameter set is manufacturer specific.
reallocate the slave.

Page 23
8. RsNetworx
8.1. EDS Wizard

The EDS File contains information about device which can be used to configure the device in the
specific parameters as well as possible network, for example with RsNetworx from
operating modes of the encoder. With this file Rockwell.
you have a data sheet in an electronic format,

1.1 EDS Wizard

To install the EDS file the EDS Wizard has to be be chosen and after that the button weiter. In the
started, that can be done in the menu Tools/EDS next step the Register a directory of EDS files
Wizard. If the EDS Wizard is activated has to be chosen and with Browse the path of
successfully the Register an EDS File(s) has to the EDS file(s). That is indicated in picture 1.2.

Page 24
 1.2 EDS Wizard

The Wizard finds all EDS files that are discarded (see picture 1.3) pictures can be selected for the
in the choosing path and operates a test to using nodes. With the button weiter the
check the EDS files on errors. In the next step installation can be continued and finished.

Page 25
 1.3 EDS Wizard

8.2 Driver Configuration

After a successful installing of the EDS file the KFD is being used. In the next step the window
next step is to choose the suitable driver. With Configure Drivers in the menu Communications/
Start/Programme/Rockwell Software/RSLinx in Configure Drivers has to be started. In the drop
the menu the programm RSLinx can be started. down Menü Available Driver Types the driver typ
With this programm the suitable driver can be 1770-KFD has to be chosen and confirmed with
chosen. For this example the driver typ 1770- the button Add New. (See picture 1.4)

Page 26
 1.4 Cofigure Drivers

If the suitable driver is chosen it can be registered (picture 1.5). In the next step a
configured in the window Driver Configuration. In requested name can be registered.
this step the correct baudrate has to be

1.5 Driver Configuration

Page 27
8.3 Network Connection

This chapter will explain how to switch a network has been choosen, this is explained in chapter
online and how to parametrise a encoder. In the 6.2, the network is online. After that RsNetworx
menu Network/ Online the window Browse for searches in the network for connecting nodes.
network will be opened. If the driver 1770-KFD That is also being showed in picture 1.6.

1.6 Browsing Network

To cofigure the encoder the configuration opened. By pushing Parameters an upload of

window in the menu Device/Properties has to be the encoder parameter is realized.

Page 28
 1.7 Upload Parameter

After a successful upload of the parameters, pushed. It should be noticed that the
those can be configured as the picture 1.8 below configuration parameters are not stored in the
shows. A download of the configured EEPROM. To store the parameters in the
parameters can be realized with the yellow EEPROM the window in the menu Device/Class
arrow that is showing down and is placed at the Instance Editor has to be opened. The entries
top right in the configuration window. An upload that are necessary to store the parameters are
can be realized with the arrow beside the being showed in the picture 1.9 below. At last
download arrow which is showing up. To show the button execute has to be executed to store
the position value the button Monitor has to be the parameters in the EEPROM.

Page 29
 1.8 Configure Parameters

1.9 Service Class Instance Attribute Editor

Page 30
9. Technical Data
9.1 Electrical Data

Interface Transceiver according ISO/DIS 11898, up to 64 nodes

galvanically isolated by opto-couplers
Transmission rate 150 kBaud, 250 kBaud, 500kBaud
Device addressing Adjustable by rotary switches in connection cap
Supply voltage 10 - 30 V DC (absolute limits)
Current consumption max. 230 mA with 10 V DC, max. 100 mA with 24 V DC
Power consumption max. 2.5 Watts
Step frequency LSB 800 kHz
Accuracy of division ± ½ LSB (12 bit), ± 2 LSB (16 bit)
EMC Emitted interference: EN 61000-6-4
Noise immunity: EN 61000-6-2
5
Electrical lifetime > 10 h

9.2 Mechanical Data

Housing Aluminum, optional stainless steel

Lifetime Dependent on shaft version and shaft loading – refer to table
Max. shaft loading Axial 40 N, radial 110 N
Inertia of rotor ≤ 30 gcm2
Friction torque ≤ 3 Ncm (without shaft sealing)
RPM (continuous operation) Singleturn: max. 12,000 RPM
Multiturn: max. 6,000 RPM
Shock (EN 60068-2-27) ≤ 30 g (halfsine, 11 ms)
Permanent shock (EN 60028-2-29) ≤ 10 g (halfsine, 16 ms)
Vibration (EN 60068-2-6) ≤ 10 g (10 Hz ... 1,000 Hz)
Weight (standard version) Singleturn: ≈ 550 g
Multiturn: ≈ 600 g
Weight (stainless steel version) Singleturn: ≈ 1,100 g
Multiturn: ≈ 1,200 g

Flange Synchro (S) Clamp (C) Hollow shaft (B)

Shaft diameter 6 mm 10 mm 10 mm 15 mm
Shaft length 10 mm 20mm 20 mm -
hollow shaft depth min. / max. - - - 15 mm / 30 mm

Page 31
9.3 Minimum (mechanical) lifetime

Flange Lifetime in 108 revolutions with Fa / Fr

40 N / 60 N 40 N / 80 N 40 N / 110 N
C10 (Clamp flange 10 x 20) 247 104 40
S10 (Synchro flange 10 x 20) 262 110 42
S6 (Synchro flange 6 x 10) without shaft sealing 822 347 133

S6 (Synchro flange 6 x 10) with shaft sealing: max. 20 N axial, 80 N radial

9. 4 Environmental Conditions

Operating temperature – 40 .. +85°C

Storage temperature - 40 .. + 85 °C
Humidity 98 % (without liquid state)
Protection class (EN 60529) Casing side: IP 65
Shaft side: IP 64 (optional with shaft sealing: IP66)

Page 32
Mechanical Drawings

Synchro flange (S)

available in 2 versions Synchro flange d / mm l / mm
Version S06 6f6 10
Version S10 10h8 20

Clamp flange (C)

Page 33
Hollow shaft (B)

Mounting instructions
The clamp ring may only be tightened if the shaft of Allowed shaft movements of the drive element are
the driving element is in the hollow shaft. listed in the table.
The diameter of the hollow shaft can be reduced to
12mm, 10 mm or 8 mm by using an adapter (this axial radial
reducing adapter can be pushed into the hollow static ± 0,3 mm ± 0,5 mm
shaft). dynamic ± 0,1 mm ± 0,2 mm

Page 34
Connection cap with 5pin round connector, Micro style

Square flange (Q)

Page 35
Synchro flange (S)
Two types available

Synchro flange d / mm l / mm
Typ S06 6f6 10
Typ S10 10h8 20

Cable (cable diameter = 8 mm )

L in mm
Single-Turn axial 53
radial 53
Multi-Turn axial 62
radial 62

Seite 36
Clamp flange (C10)

Cable (cable diameter = 8 mm )

L in mm
Single-Turn axial 53
radial 53
Multi-Turn axial 62
radial 62

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Clamp flanch (S), 5 pin connector
The dimensions of the housing from type Clamp
flange 5 pin connector are the same like the type
synchro flange.

L im mm
Single-Turn axial 53
radial 53
Multi-Turn axial 62
radial 62

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Hollow Shaft (B)

L
Single-Turn axial 72
radial 72
Multi-Turn axial 81
radial 81

Mounting instructions hollow shaft

The clamp ring may only be tightened if the shaft
axial radial
of the driving element is in the hollow shaft.
static ± 0.3 mm ± 0.5 mm
The diameter of the hollow shaft can be reduced
to 12mm, 10 mm or 8 mm by using an adapter dynamic ± 0.1 mm ± 0.2 mm
(this reducing adapter can be pushed into the
hollow shaft).
Allowed shaft movements of the drive element
are listed in the table.

Page 39
Heavy Duty version

These „Outdoor encoder“ are suitable for dirty Main features

industrial environment e.g. heavy construction - Compact dimensions
machines. The heavy duty option for the Pure - Heavy Duty housing
CANopen encoder provides an extended - Protective element against perspiration water
temperature range, protection elements against - integrated T-coupler
perspiration water inside the encoder and a - Standard protection class:
heavy duty housing. Uppermost attention was IP66 shaft side
laid on a high EMI. Micro style connectors for IP67 casing side
supply voltage and bus-in / bus-out connection
provide an easy installation for non professional
people. The parametrization of the Pure
CANopen encoder is possible with all current
project tools by implementation of the ESD file to
the current project.

Page 40
Heavy Duty version with full shaft Flangetype l [mm]
Clampflange available in two versions. Standard 10
Optional 4

Heavy Duty version with blind shaft

Allowed shaft movement of drive element Axial Radial
is listed in the table. static ± 0,3 mm ± 0,5 mm
dynamic ± 0,1 mm ± 0,2 mm

72
Singleturn=66, Multiturn=90
Ø63
3,3

1,3
Ø12 F7

Ø60

20
20
73

Ø3.2
an Momentenst黷ze
Anlagekante

12,5
32
21,5 IN OUT
Max. Welleneinstecktiefe = 30

Min. Welleneinstecktiefe = 15

Page 41
10. Versions / Order Description

Description Type Key

Optocode SAG- D2 B1 B- __ _ _- _ __ _- 0CC

Interface DeviceNet D2
Version B1
Code Binary B
Revolutions (Bits) Singleturn 00
Multiturn (4096 revolutions) 12
Multiturn (16384 revolutions) 14
Steps per revolution 4096 12
(Bits) 8192 13
65536 16
Flange Clamp flange C
Synchro flange S
Hollow shaft B
Square flange Q
Shaft diameter 10 mm 10
06 mm 06
15 mm (hollow shaft) 15
Mechanical options Without 0
Shaft sealing (IP66) S
Stainless steel version V
Heavy Duty H
Customized C
Connection Connection Cap 0CC
Has to be ordered separately – see accessories
Connector, 5-pin, M12, radial PRM
Connector, 5-pin, M12, axial PAM
Cable ; radial (1m) CRW
Cable ; axial (1m) CAW
Heavy Duty PRN

Standard = bold, further models on request

Page 42
Connection caps

Description Type

Standard T-coupling-functionality with integrated address AH 58-B1DA-3PG

DeviceNet setting
Stainless steel configuration AH 58-B1DA-3PG-VA
Connection with 5pin round connector, Micro style AH 58-B1DA-1BW
M12
Alternative version 2 cable glands for cable diameter: 9 - 13 mm AH 58-B1DA-2M20
DeviceNet

Accessories and Documentation

Description Type
Shaft coupling** Drilling: 10 mm GS 10
Drilling:: 6 mm GS 06
Clamp disc** 4 pcs. / AWC SP 15
Clamp ring** 2 pcs. / AWC SP H
Reducing adapter *** 15 mm to 12 mm RR12
Reducing adapter *** 15 mm to 10 mm RR10
Reducing adapter *** 15 mm to 8 mm RR8
User Manual* Installation and configuration manual, German UMD-DA
User Manual* Installation and configuration manual, English UME-DA

*** only for hollow shaft

** needless for hollow shaft

* These can be downloaded free of charge from our Homepage www.scancon.com.

Page 43
Diskette mit EDS-File**
Encoder with connection cap EDS-File**
SAG-D2B1B-0012-xxxx-OCC SAG -D2B1B-1213-0013-xxxx-OCC.eds
SAG -D2B1B-0013-xxxx-OCC SAG -D2B1B-1213-0013-xxxx-OCC.eds
SAG -D2B1B-0016-xxxx-OCC SAG -D2B1B-0016-xxxx-OCC.eds
SAG -D2B1B-1212-xxxx-OCC SAG -D2B1B-1213-0013-xxxx-OCC.eds
SAG -D2B1B-1213-xxxx-OCC SAG -D2B1B-1213-0013-xxxx-OCC.eds
SAG -D2B1B-1216-xxxx-OCC SAG -D2B1B-1216-xxxx-OCC.eds
SAG -D2B1B-1412-xxxx-OCC SAG -D2B1B-1412-xxxx-OCC.eds
SAG -D2B1B-1413-xxxx-OCC SAG -D2B1B-1413-xxxx-OCC.eds
SAG -D2B1B-1416-xxxx-OCC SAG -D2B1B-1416-xxxx-OCC.eds
Encoder without connection cap EDS-File**
SAG -D2B1B-0012-xxxx-xxx SAG -D2B1B-1213-0013-xxxx-xxx.eds
SAG -D2B1B-0013-xxxx- xxx SAG -D2B1B-1213-0013-xxxx-xxx.eds
SAG -D2B1B-0016-xxxx- xxx SAG -D2B1B-0016-xxxx- xxx.eds
SAG -D2B1B-1212-xxxx- xxx SAG -D2B1B-1213-0013-xxxx-xxx.eds
SAG -D2B1B-1213-xxxx- xxx SAG -D2B1B-1213-0013-xxxx-xxx.eds
SAG -D2B1B-1216-xxxx- xxx SAG -D2B1B-1216-xxxx- xxx.eds
SAG -D2B1B-1412-xxxx- xxx SAG -D2B1B-1412-xxxx- xxx.eds
SAG -D2B1B-1413-xxxx- xxx SAG -D2B1B-1413-xxxx- xxx.eds
SAG -D2B1B-1416-xxxx- xxx SAG -D2B1B-1416-xxxx- xxx.eds

** needless for hollow shaft

We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to
change without notice.

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