Mot or Feedback Syst em Si nCos

SKS 36
wi t h HI PERFACE

2003-05 2/7
1. Features of the SinCos

SKS 36



_________________________________________________________________________________________

The SKS 36 MiDi encoder is the first member of a new
generation of optical encoders within the SinCos

product family. Common to all members is the novel
Mini-Disc technology.
This new rotary encoder generation is not simply a
miniaturised version of conventional rotary encoders.
The construction is fundamentally different and opens
the door to the production of truly small rotary
encoders.
The unique feature of this generation: a very small
code disc with a code track radius of only 2 mm
permitting holistic (integral) scanning.
In the process, the eccentricity errors of the code disc,
ball bearings and shaft, which are unavoidable in
conventional systems, are compensated for by the
system.

The 128 lines on the code disc are scanned integrally
using an Opto-ASIC specifically developed for the
purpose. The sinusoidal signals produced have a high
linearity and interpolation capability. In spite of its small
dimensions, the MiDi encoder offers maximum
reliability as a result of the "self-monitoring absolute
position". The absolute position within a revolution is
produced by means of digital evaluation of a sequential
code. An error in the absolute information can be
determined even before a shaft movement takes place.
In the event of an erroneous code, an error message is
produced.
The light source used is an IR LED which is mounted
inside the shaft. The light intensity is controlled in
order to compensate for ageing and temperature
variation. The current to the LED is monitored.

By mounting the code disc in the centre of the axis of
rotation, high angular velocities are no longer limited by
the code disc.
The overall size is essentially determined by the
mechanical and electrical interfaces. The SKS 36 has
HIPERFACE

as an electrical interface.

The number of components is optimised to a minimum
and, of course, only the newest technologies, such as
"chip on board" are used.

The small dimension of the SKS 36 MiDi encoder
permits the manufacturers of small motors to shorten
the overall length of their motors considerably.






Features in brief

HIPERFACE

- interface
128 sine/cosine periods per revolution
Digital absolute value with 4096 steps per revolution
Programming of the position value
Electronic type label
Internal encoder temperature can be read
EEPROM may be used by the customer (e.g. motor data)
Compact design
Simple and fast installation
2003-05 3/7
2. Technical data and characteristics to DIN 32 878




Units
Number of sine/cosine periods per revolution 128
Dimensions See drawing mm
Mass (without cable) 0.06 kg
Moment of inertia of the rotor 4.3 gcm
2

Code type for the absolute value binary
Code direction with clockwise shaft rotation as viewed in direction "A"
(see dimensional drawing)
increasing
Measuring steps after forming the arctan with 12-bit resolution 2,5 Seconds of arc
Number of steps per revolution of the digital absolute value via RS 485 4096
Error limits of the digital absolute value via RS 485 125 Seconds of arc
Error limits in evaluating the 128 cycle signals, integral non-linearity 80 Seconds of arc
Nonlinearity within one sine/cosine period, differential non-linearity 40 Seconds of arc
Working speed 12,000 min
-1

Max. angular acceleration 5 x 10
5
rad/s
2

Operating torque 0.2 Ncm
Starting torque 0.3 Ncm
Permissible shaft movement
- Radial movement
- Axial movement
Permissible misalignment of the shaft
- Radial
- Axial (see drawing)

0.05
0.1

0.1
0.2

mm
mm

mm
mm
Bearing lifetime 3.6 x 10
9
revolutions
Working temperature range -20 .... +110 C
Operating temperature range to DIN 32878 -20 .... +125 C
Storage temperature range without packaging -40 .... +125 C
Permissible relative air humidity (no condensation allowed) 90 %
Resistance to shocks when assembled, to DIN IEC 68 Part 2-27 100/6

g/ms
Resistance to vibration when assembled, to DIN IEC 68 Part2-6 50/10 ... 2000 g/Hz
Degree of protection to IEC 60 529 IP 64
EMC to EN 50081-2 and EN 61000-6-2
Operating voltage range 7 .... 12 V
Recommended supply voltage 8 V
Max. no-load operating current 60 mA
Interface signals:
Process data channel: SIN, COS 0.8 ... 1.1 Vpp
REFSIN, REFCOS 2.2 ... 2.8 V
Parameter channell According to EIA 485
1)
Short term pea kambient temperature at reduced shaft speed.
2)
The specified EMC standards are fulfilled if the SKS 36 is electrically connected to the motor housing which is also connected by
the cable screen to earth on the drive side. The GND (0V) connection of the supply voltage must also be connected to earth.
If different earthing concepts are applied, then the user must perform additional EMC tests.
2003-05 4/7
3. HIPERFACE

- Type specific





HIPERFACE

defines the physical interface of the

motor feedback systems and the transmission protocol
of the parameter channel and the structure of
commands, messages and functions (see the
HIPERFACE

parameter channel data sheet)

The functional scope can differ from type to type.

The HIPERFACE

functions of the SKS 36 are

described below.



Basic settings

Type identifier (Command 52h) 32h
Free EEPROM [Bytes] 1792
Address 40h
Mode_485 E4h
Codes 0..3 55h
Counter 0


Summary of the commands supported

Command
-byte
Function Code 0
1)
Comment
42h Read position
43h Set position
44h Read analogue value Channel number:48h,
temperature [C]
46h Read counter
47h Increment counter
49h Delete counter value
4Ah Read data
4Bh Save data
4Ch Determine status of a data field
4Dh Create data field
4Eh Determine available memory area
4Fh Change access key
50h Read encoder status
52h Read type label Encoder type = 32h
53h Encoder reset
55h Allocate encoder address
56h Read serial number and program version
57h Configure serial interface
1)
The appropriately identified commands contain the parameter "code 0".
Code 0 is a byte which is inserted into the protocol as an additional safeguard against inadvertent overwriting
of important system parameters.
When delivered, "Code 0" = 55H.



2003-05 5/7
4. HIPERFACE

- type-specifc





Summary of the status messages

Error type
Status
Code
Description
00h The encoder has not detected an error
01h Analogue signals out of specification
02h Internal angle offset wrong
03h Data field partitioning table destroyed
04h Analogue limiting values not available
05h Internal I
2
C bus not serviceable
Initialisation
06h Internal check sum error
07h Encoder reset by program monitoring
09h Parity error
0Ah Check sum of the data transmitted is wrong
0Bh Unknown command code
0Ch Number of data transmitted wrong
Protocol
0Dh Command argument transmitted is inadmissible
0Eh The selected data field may not be overwritten
0Fh Wrong access code
10h The size of the specified data field may not be changed
11h Specified word address outside data field
12h Access to non-existent data field
20h Single-turn position unreliable
1Dh LED current critical (contamination, defective LED)
1Eh Encoder temperature critical
Data
08h Counter overflow



2003-05 6/7
5. Dimensional drawing



_________________________________________________________________________________________


























Caution:
The encoder shaft must not be machined.
The ball bearings can be damaged by impacts on the shaft.

Installation:
The two flats on the encoder shaft must be latched into the slot in the stator coupling.
Lock the motor shaft to prevent rotation.
Place the installation tool on the rear of the encoder and latch it on the slots in the encoder housing.
Screw the encoder into the motor shaft with a tightening torque of 6 Nm using the hexagonal location on the
installation tool.
Release the motor shaft.
Rotate the encoder until the fixing tabs of the stator coupling lie above the fixing threads in the motor bearing
plate.
Screw the stator coupling firmly to the motor bearing plate with two M 2.5 (or M 3) screws.
Tighten these screws alternately and uniformly.
The stator coupling has then released the encoder shaft, so that it can rotate freely.




overall dimensions
with M3 screws
at pitch circle 38
overall dimensions
with M2.5 screws
at pitch circle 36
Installation dimensions
2003-05 7/7
6. Connection details









7. Ordering information


When ordering, please use the following ordering description:

Variant Single-turn-encoder Standard
Built-in encoder SKS 36 E With RS485 line termination




8. Accessories
Mounting screws
M3x8 2 pieces
M2,5x6 2 pieces

Programming Tool
For the configuration of HIPERFACE

- encoders, comprising:
- programming adapter
- link cable
- encoder cable
- plug-in power supply unit
- program floppy disk



Installation tool
For screwing the encoder into the motor shaft.
Colour
Connection wires
Signal
red Us 7 - 12 V
blue GND
brown REFSIN
black REFCOS
grey Data + RS 485
green Data - RS 485
white +SIN
pink +COS
Length of stranded cable:
approx: 200 mm

Screening:
In the built-in encoder, the encoder housing is connected to
the motor via the stator coupling. The mounting space for
the encoder is therefore screened by the motor housing, so
that it is possible to work with unscreened connecting wires
within the motor.
Us and GND are connected internally to the housing via
2.2 nF capacitors.

Stegmann GmbH & Co.K G Post box 1560
D -78156 Donaueschingen
Drrheimer Strae 36
D -78166 Donaueschingen
Telephone ( 0771) 807-0
Telefax ( 0771) 807100
www. stegmann.de
e-mail: info@ stegmann.de
Precision
in motion
Incremental and
absolute measuring systems.
M otor-Feedback-Systems
for servomotors.
Synchronous motors
Stepping motors
Control units for motors
Gears Actuating drives
Positioning drives

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ISO 9001
EN 29001