Enc

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
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
20 and 21
5 m and 3 m
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
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
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
Example of Linear Encoder: GAM- 1640-5-A
G
Type of prole for wide space
A
M
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
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
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
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
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
F
420
Measuring lengths in millimeters In the example (420) = 420 mm
5
A
21
linear
A B S O L U T E
SVA series
LINEAR
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
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
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
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
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
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
Example of Angular Encoder: HAF-23-D200-2
H
Type of shaft: H: Hollow shaft
A
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
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
Example of Angular Encoder: HAF-23-D90-2
H
Type of shaft: H: Hollow shaft
A
F
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
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)
3 4 14 50
Example of Angular Encoder: SAF-23-D170
S
Type of shaft S: Solid shaft
A
F
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
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
Example of Angular Encoder: SAF-23-D90-2
S
Type of shaft S: Solid shaft
A
F
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
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

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
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

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
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

Receiving photo-diodes Grid Flat convex lens
LED
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
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
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
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
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
L series
LINEAR
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.
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
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
I0
Non-distance coded
1 I0
80
Machine way
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
G series
LINEAR
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
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
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
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
A
41
linear
S series
LINEAR
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
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
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
Machine way
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
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
SV series
LINEAR
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
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
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
5
B
Linear encoder built-in support: B : With builtin support for vibration up to 20 g
A
45
linear
H-D200 series
ANGULAR
Dimensions in mm 5.75 - 4x90 0,25 B
14, 5 79
25
M4 - 4x90 0,3 C
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
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
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
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
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
P
Type of signal:
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
S-D170 series
ANGULAR
45
Dimensions in mm
160 7,5
39,1
5,5
54
39,5
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
Example of Angular Encoder: SOP - 18000 - D170-2
S
Type of shaft:
S: Solid shaft
O
P
Type of signal:
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
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
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
Example of Angular Encoder: SOP - 18000-1024 - D90
S
Type of shaft:
S: Solid shaft
O
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
S-D90 series
ANGULAR
0 110 -0,5
R1
100 0,2
33 ,5
45
0 92,5 -1
5 4,5 5
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
Example of Angular Encoder: SOP - 18000 - D90-2
S
Type of shaft:
S: Solid shaft
O
Type of reference markI0:
P
Type of signal:
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
H, S series
ROTARY
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
Direct connection cables

Connection to FAGOR CNC
UP TO 12 METERS
ECP-D
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

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
HONDA / HIROSE connector (female Pin )
ECAS-H
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

XC-C2 H extension cable

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
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
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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Linear and angular

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

Linear, angular and rotary

Over 30 years of continuous evolution

Modern facilities and innovative processes

With state-of-the-art technology

FL Reective scanning method

The most reliable alternative

transmissive and reective optics in its range of encoders.

Thermal Determined Mounting System (TDMS)

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

The quality of the measurement is mainly determined by:

Angular and rotary

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

Angular and rotary

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

Graduated glass encoder

incremental graduation absolute graduation cursor absolute sensor

absolute digital output

CNC /PC / Drive controller incremental analog output

Graduated steel encoder

absolute LED incremental LED

absolute digital output reader head

steel encoder incremental graduation absolute graduation incremental analog output

CNC /PC / Drive controller

Air intake at both ends

Air intake on the reader head

Graduated glass disk

Angular and rotary encoders

incremental graduation absolute graduation

graduated glass disk

Shock and Vibration

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

Type of shaft Hollow shaft

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

Pitch Resolution up to 0.1 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

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

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

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

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

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

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

* SIEMENS: valid for family Solution Line.

n x 200 0,15 200 0,15

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

Machine way Absolute position

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

62 1,5 2,5 1,5

Dimensions in mm 0,1 G 0,03

24,5 100 CM/2+65

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

8,5 14,5 Absolute P=20

Measuring length Machine way Absolute position

Dimensions in mm 0,1 G 0,03

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

15,5 2 13 56 93 Absolute P=20

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

I0 width: L + R I0_min: 180