Absolute encoders Siemens

Функции



Absolute encoders with SSI/EnDat and PROFIBUS DP at the top, and
DRIVE‑CLiQ and PROFINET IO at the bottom

Absolute encoders (absolute shaft encoders) are designed on the same scanning principle as incremental encoders, but have a greater number of tracks. For example, if there are 13 tracks, then 213 = 8192 steps are coded in the case of single‑turn encoders. The code used is a one‑step code (gray code) which prevents any scanning errors from occurring.

After switching on the machine, the position value is transferred immediately to the controller. There is no need for homing.

DRIVE‑CLiQ, SSI and EnDat absolute encoders are of advantage in time‑critical applications.

In plants with a large number of encoders, encoders with PROFIBUS DP or PROFINET IO are more advantageous due to the reduced wiring overhead. PROFIBUS DP encoders are programmable and support isochronous mode with direct data exchange. The encoders with PROFINET IO are also parameterizable, additionally have two ports and support the RT and IRT operating modes.

Single‑turn encoders

Single‑turn encoders divide one revolution (360‑degrees mechanical) into a specific number of steps, e.g. 8192. A unique code word is assigned to each position. After 360 degrees the position values are repeated.

Multi‑turn encoders

Multi‑turn encoders also record the number of revolutions, in addition to the absolute position within one revolution. To do this, further code discs which are coupled via gear steps with the encoder shaft are scanned. When evaluating 12 additional tracks, this means that 212 = 4096 revolutions can be coded.

Технические данные



Product name

 

Absolute encoder with DRIVE‑CLiQ

Absolute encoder with SSI

Absolute encoder with EnDat

 

 

6FX2001‑5.D..‑0AA1

6FX2001‑5.S..

6FX2001‑5.E..

Operating voltage DC
Vp on encoder

V

24
-15 % +20 %

10 ... 30

5
±5 %

Current consumption, approx.

    
  • Single‑turn

mA

245

160

160

  • Multi‑turn

mA

325

200

200

Interface

 

DRIVE‑CLiQ

SSI

EnDat

Clock input

 

–

Differential cable receiver acc. to EIA standard RS485

Differential cable receiver acc. to EIA standard RS485

Data output

 

DRIVE‑CLiQ

Differential cable driver acc. to EIA standard RS485

Differential cable driver acc. to EIA standard RS485

Short‑circuit strength

 

Yes

Yes

Yes

Transmission rate

Mbit

100

–

–

 

kHz

–

100 ... 1000

100 ... 2000

Speed, max.

    
  • Electrical

rpm

14000

–

–

  • At ± 1 bit accuracy

rpm

–

5000

5000

  • At ± 100 bit accuracy

rpm

–

10000

10000

  • Mechanical
    
  • Single‑turn

rpm

12000

12000

12000

  • Multi‑turn

rpm

10000

10000

10000

Cable length to downstream electronics, max.1)

m (ft)

100 (328)

–

–

  • Up to 100‑kHz‑cycle

m (ft)

–

400 (1312)

–

  • Up to 300‑kHz‑cycle

m (ft)

–

100 (328)

150 (492)

  • Up to 1‑MHz‑cycle

m (ft)

–

50 (164)

50 (164)

Connection

 

DRIVE‑CLiQ connector, radial

Flange outlet, axial/radial

Flange outlet, axial/radial

Resolution

    
  • Single‑turn

bit

22

13
(8192 steps)

13
(8192 steps)

  • Multi‑turn

bit

34
(22 bit single‑turn + 12 bit multi‑turn)

25
(8192 steps × 4096 revolutions)

25
(8192 steps × 4096 revolutions)

Frame

    
  • Single‑turn

bit

–

13
without parity

According to EnDat specification

  • Multi‑turn

bit

–

25
without parity

According to EnDat specification

Incremental track

S/R

2048, 1 Vpp
(internal only)

–

512, 1 Vpp

Code type

    
  • Sampling
 

Gray

Gray

Gray

  • Transfer
 

DRIVE‑CLiQ

Gray, fir tree format

Binary

Parameterization capability

    
  • Preset
 

–

Set to zero

–

  • Counting direction
 

Yes

Yes

–

Accuracy

arcsec

± 36

± 79
(with 8192 steps)

± 60
(Incremental track)

Friction torque (at 20 °C) (68 °F)

Nm (lbf‑in)

≤ 0.01 (0.09)

≤ 0.01 (0.09)

≤ 0.01 (0.09)

Starting torque (at 20 °C) (68 °F)

Nm (lbf‑in)

≤ 0.01 (0.09)

≤ 0.01 (0.09)

≤ 0.01 (0.09)

Shaft loading capacity

    
  • n ≤ 6000 rpm
    
  • Axial

N (lbf)

40 (8.99)

40 (8.99)

40 (8.99)

  • Radial at shaft extension

N (lbf)

60 (13.5)

60 (13.5)

60 (13.5)

  • n > 6000 rpm
    
  • Axial

N (lbf)

10 (2.25)

10 (2.25)

10 (2.25)

  • Radial at shaft extension

N (lbf)

20 (4.50)

20 (4.50)

20 (4.50)

Shaft diameter

    
  • Synchro flange

mm (in)

6 (0.24)

6 (0.24)

6 (0.24)

  • Clamp flange

mm (in)

10 (0.39)

10 (0.39)

10 (0.39)

  • Torque arm
    Hollow shaft

mm (in)

10/12 (0.39/0.47)

–

–

Shaft length

    
  • Synchro flange

mm (in)

10 (0.39)

10 (0.39)

10 (0.39)

  • Clamp flange

mm (in)

20 (0.79)

20 (0.79)

20 (0.79)

Angular acceleration, max.

rad/s2

105

105

105

Moment of inertia of rotor

    
  • Solid shaft

kgm2 (lbf‑in‑s2)

1.90 × 10-6
(16.8 × 10-6)

1.45 × 10-6
(12.8 × 10-6)

1.45 × 10-6
(12.8 × 10-6)

  • Hollow shaft

kgm2 (lbf‑in‑s2)

2.80 × 10-6
(24.8 × 10-6)

–

–

Vibration (55 ... 2000 Hz) in accordance with EN 60068‑2‑6

m/s2 (ft/s2)

≤ 100 (328)

≤ 300 (984)

≤ 300 (984)

Shock in accordance with EN 60068‑2‑27

    
  • 2 ms

m/s2 (ft/s2)

≤ 2000 (6562)

≤ 2000 (6562)

≤ 2000 (6562)

  • 6 ms

m/s2 (ft/s2)

≤ 1000 (3281)

≤ 1000 (3281)

≤ 1000 (3281)

Degree of protection acc. to EN 60529 (IEC 60529)

    
  • Without shaft input
 

IP67

IP67

IP67

  • With shaft input
 

IP64

IP64

IP64

Ambient temperature

    
  • Operation

°C (°F)

‑20 ... +100 (‑4 … +212)

‑40 ... +85 (‑40 … +185)

‑40 ... +100 (‑40 … +212)

Weight, approx.

    
  • Single‑turn

kg (lb)

0.4 (0.88)

0.35 (0.77)

0.35 (0.77)

  • Multi‑turn

kg (lb)

0.5 (1.10)

0.35 (0.77)

0.35 (0.77)

EMC

 

Tested in accordance
with DIN EN 50081 and EN 50082

Tested in accordance
with DIN EN 50081 and EN 50082

Tested in accordance
with DIN EN 50081 and EN 50082

Approvals, according to

 

CE, cULus

CE, cULus

CE, cULus



S/R = signals/revolution

1) Observe the max. permissible cable length of the connected module.

Product name

 

Absolute encoder with PROFIBUS DP

Absolute encoder with PROFINET IO

 

 

6FX2001‑5.P..

6FX2001‑5.N..

Operating voltage DC
Vp on encoder

V

10 ... 30

10 ... 30

Current consumption, approx.

   
  • Single‑turn

mA

300 ... 100 (2.5 W)

400 ... 130 (< 4 W)

  • Multi‑turn

mA

300 ... 100 (2.5 W)

400 ... 130 (< 4 W)

Interface

 

PROFIBUS DP‑V2

PROFINET IO with RT/IRT

Clock input

 

Differential cable receiver acc. to EIA standard RS485

2 ports IRT

Data output

 

Differential cable driver acc. to EIA standard RS485

2 ports IRT

Short‑circuit strength

 

Yes

Yes

Transmission rate

Mbit/s

12

100

LED for diagnostics

 

Green/red

Green/red/yellow

Speed, max.

   
  • Electrical
   
  • At ± 1 bit accuracy

rpm

5800

5800

  • Mechanical
   
  • Single‑turn

rpm

12000

12000

  • Multi‑turn

rpm

6000

6000

Cable length to downstream electronics, max.1)

   
  • Up to 93.75 kbit/s

m (ft)

1200 (3937)

–

  • Up to 1.5 Mbit/s

m (ft)

200 (656)

–

  • Up to 12 Mbit/s

m (ft)

100 (328)

100 (328)

Number of nodes

 

99

–

Connection

 

Terminal block with address selector switch and bus terminating resistor in removable cover with radial cable glands (3 units)

2 × M12 plug connectors, 4-pole for PROFINET ports
1 × M12 plug connector, 4-pole for operating voltage

  • Cable diameter

mm (in)

6,5 ... 9 (0.26 … 0.35)
Removal of cover possible without interrupting bus

–

Resolution

   
  • Single‑turn

bit

13
(8192 steps)

13
(8192 steps)

  • Multi‑turn

bit

27
(8192 steps × 16384 revolutions)

27
(8192 steps × 16384 revolutions)

Frame

 

According to PNO encoder profile V 4.1
Class 1, Class 2, Class 3
Standard frame 81

According to PNO encoder profile V 4.1
Class 1, Class 2, Class 3, Class 4
Standard frames 81/82/83/84
Siemens frame 860

Code type

   
  • Sampling
 

Gray

Gray

  • Transmission
 

Binary, PROFIBUS

Binary, PROFINET

Bus load, approx.

   
  • At 12 Mbit/s per encoder

µs

20

–

Cycle time

ms

0.667

1 ... 100

Parameterization capability

   
  • Resolution per revolution
 

1 ... 8192

1 ... 8192

  • Total resolution
 

1 ... 16384

1 ... 16384

  • Preset
 

Yes

Yes

  • Counting direction
 

Yes

Yes

  • Speed signal
 

Yes

Yes

  • Limit switches
 

Yes, 2 units

No

  • Isochronous mode
 

Yes

Yes

  • Direct data exchange
 

Yes

No

Online parameterization

 

Yes

Yes

PNO certificate

 

Yes

Yes

Supported profiles

 

PNO encoder profile V4.1

PNO encoder profile V4.1

Accuracy with 8192 steps

arcsec

± 79
(± ½ LSB)

± 79
(± ½ LSB)

Friction torque

(at 20 °C) (68 °F)

Nm (lbf‑in)

≤ 0.01 (0.09)

≤ 0.01 (0.09)

Starting torque

(at 20 °C) (68 °F)

Nm (lbf‑in)

≤ 0.01 (0.09)

≤ 0.01 (0.09)

Shaft loading capacity

   
  • n ≤ 6000 rpm
   
  • Axial

N (lbf)

40 (8.99)

40 (8.99)

  • Radial at shaft extension

N (lbf)

110 (24.73)

110 (24.73)

  • n > 6000 rpm
   
  • Axial

N (lbf)

10 (2.25)

10 (2.25)

  • Radial at shaft extension

N (lbf)

20 (4.50)

20 (4.50)

Shaft diameter

   
  • Synchro flange

mm (in)

6 (0.24)

6 (0.24)

  • Clamp flange

mm (in)

10 (0.39)

10 (0.39)

  • Torque arm
    Hollow shaft

mm (in)

15 (0.59)2)

15 (0.59)2)

Shaft length

   
  • Synchro flange

mm (in)

10 (0.39)

10 (0.39)

  • Clamp flange

mm (in)

20 (0.79)

20 (0.79)

Angular acceleration, max.

rad/s2

105

105

Moment of inertia of rotor

   
  • Solid shaft

kgm2 (lbf‑in‑s2)

1.90 × 10-6
(16.8 × 10-6)

1.90 × 10-6
(16.8 × 10-6)

  • Hollow shaft

kgm2 (lbf‑in‑s2)

2.80 × 10-6
(24.8 × 10-6)

2.80 × 10-6
(24.8 × 10-6)

Vibration (55 ... 2000 Hz) acc. to EN 60068‑2‑6

m/s2 (ft/s2)

≤ 100 (328)

≤ 100 (328)

Shock acc. to EN 60068‑2‑27

   
  • 2 ms

m/s2 (ft/s2)

≤ 2000 (6562)

≤ 2000 (6562)

  • 6 ms

m/s2 (ft/s2)

≤ 1000 (3281)

≤ 1000 (3281)

Degree of protection acc. to EN 60529 (IEC 60529)

   
  • Without shaft input
 

IP67

IP67

  • With shaft input
 

IP64

IP64

Ambient temperature

   
  • Operation

°C (°F)

‑40 ... +85 
(‑40 … +185)

‑40 ... +85 
(‑40 … +185)

Weight, approx.

   
  • Single‑turn

kg (lb)

0.4 (0.88)

0.4 (0.88)

  • Multi‑turn

kg (lb)

0.5 (1.10)

0.5 (1.10)

EMC

 

Tested in accordance
with DIN EN 50081 and EN 50082

Tested in accordance
with DIN EN 50081 and EN 50082

Approvals, according to

 

CE, cULus

CE, cULus



1) Observe the max. permissible cable length of the connected module.

2) Hollow shaft diameter of 12 mm, 10 mm or 8 mm (0.47 in, 0.39 in or 0.31 in) possible via reduction sleeves included in the delivery.

Дальнейшая информация



Thanks to the open DRIVE-CLiQ interface, absolute encoders with integrated DRIVE-CLiQ interface from different manufacturers can be used. More information can be found at:

https://support.industry.siemens.com/cs/ww/en/view/65402168