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Mandee Liberty & Vikram Phadke National Encoder Product Specialists : Encoders – Basic Training.

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Presentation on theme: "Mandee Liberty & Vikram Phadke National Encoder Product Specialists : Encoders – Basic Training."— Presentation transcript:

1 Mandee Liberty & Vikram Phadke National Encoder Product Specialists : Encoders – Basic Training

2 : SICK, Inc.: Confidential Typical Industrial System InputOutput Feedback Controller Operation (Application) Sensor 2

3 : SICK, Inc.: Confidential Encoders within a Control System 3 Feedback Sensor

4 : SICK, Inc.: Confidential What is an encoder? : An encoder is a device which converts a mechanical information of a shaft or position into an electrical signal Encoder Encoder Definitions 4

5 : SICK, Inc.: Confidential Encoder Definitions 5 How is this accomplished? : As the code disc rotates, it shutters light from the LED and is received and transmitted as square\sine waveforms Receiver / Sensor Code disc Lens Transmitter / LED Shaft

6 : SICK, Inc.: Confidential Mechanical Considerations Electrical Interface Type (Rotary, Linear, Incremental, Absolute) 6 Encoder Selection Process

7 : SICK, Inc.: Confidential7 Type (Rotary, Linear, Incremental, Absolute) Encoder Selection Process

8 : SICK, Inc.: Confidential Encoder Rotary Encoder Linear Encoder Types of Encoders 8

9 : SICK, Inc.: Confidential9 Rotary Convert Angular Position into Analog or Digital Signal Encoders for rotary motion and measuring angle, speed or velocity Linear Convert Linear distance movement to Analog or Digital Signal Encoders for measuring distance travelled, positioning, location information. Types of Encoders

10 : SICK, Inc.: Confidential Encoder Linear Encoder Wire DrawLinear with Scale Types of Encoders 10

11 : SICK, Inc.: Confidential11 Wiredraw Convert pulled wire length distance to feedback Absolute and Incremental Analog, digital or Bus feedback interfaces Distance: up to 50m With Scale Two part devices; Active Head, Passive Scale Absolute Positioning Scale : Magnetic Tape or Elements Hiperface, SSI, Bus Interfaces Distance: up to 1700m Types of Encoders

12 : SICK, Inc.: Confidential Encoder Rotary Encoder IncrementalAbsolute Linear Encoder Wire DrawLinear with Scale AbsoluteIncremental Types of Encoders 12

13 : SICK, Inc.: Confidential13 Incremental Produces electrical pulses or increments with linear or rotary motion Signals can be square or sinusoidal waves Signals start over at power up, or after a power failure. In other words, an incremental encoder does not retain position after a power cycle Incremental encoders are typically used for speed or applications that do not require absolute position Incremental Encoders

14 : SICK, Inc.: Confidential Absolute Encoders 14 Absolute Provides a unique value for every shaft or linear position Absolute encoders retain their position after a power cycle Signals typically use SSI, parallel, or field bus interfaces (Ethernet/IP, EtherCAT, Profinet, Devicenet, CANopen, Profibus, etc) Absolute encoders are used in applications were position information is necessary Code disc for absolute encoders LED Lens Scanning mask Code disc Photo- Elements

15 : SICK, Inc.: Confidential Encoder Selection Process 15 Electrical Interface Type (Rotary, Linear, Incremental, Absolute)

16 : SICK, Inc.: Confidential Encoder Rotary Encoder IncrementalAbsolute Types of Encoders 16

17 : SICK, Inc.: Confidential Incremental Encoders Output Channels : Incremental encoders -produce electrical pulses or increments (usually as a square wave) with linear or rotary motion of the encoder : Resolution -The number of pulses or increments per channel, per revolution. Also known as Pulses Per Revolution, or PPR : Quadrature: -The standard convention is to output two square wave channels along with their complements -Channels A and B are offset by ¼ of a cycle – using all four channels with this output, we can interpolate 4 positions within one pulse cycle. This is known as quadrature -The 1/4 th offset also allows us to see which direction the encoder is turning based on what channel is leading. If channel A goes high first followed by channel B, we can determine the direction of rotation, and visa versa. : Name (Date)17

18 : SICK, Inc.: Confidential Incremental Encoders Electrical Signals : Output Voltages -Standard output voltages are HTL, TTL or Open Collector. These refer to the amplitude of the square waves : HTL (High Threshold Logic) -Also known as push pull -The output voltage will be the same as the supply voltage (e.g if the supply on the encoder is 24V, the output signal will also be ~24V) : TTL (Transistor Transistor Logic) -Also known as a differential line driver or RS422 -The output voltage will always be 5V regardless of the supply voltage on the encoder : Open Collector -Instead of outputting a signal of a specific voltage or current, the output signal is applied to the base of an internal NPN transistor whose collector is externalized : Name (Date)18

19 : SICK, Inc.: Confidential19 Incremental Encoder – Electronic Interface Summary Standard Supply voltages are 5VDC, VDC, and 8-24VDC Standard outputs are TTL, HTL and Open collector Incremental Electronic Interface TTL / RS 422 Supply = 5V TTL / RS 422 Supply = V HTL / Push Pull Supply = V Open Collector Supply = 8-24 V Incremental Encoders Interface Summary

20 : SICK, Inc.: Confidential Encoder Rotary Encoder IncrementalAbsolute MultiturnSingleturn Absolute Encoders Singleturn vs Multiturn Absolute Encoders 20

21 : SICK, Inc.: Confidential21 Singleturn Measures the Absolute position within 1 revolution/turn Multiturn Measures the Absolute position within 1 revolution/turn In Addition, measures the number of revolutions as well. Singleturn and Multiturn Absolute

22 : SICK, Inc.: Confidential Absolute Electronic Interface SSIParallelBUS 22 Absolute Encoder Interfaces

23 : SICK, Inc.: Confidential : Parallel Output -First form of communication for absolute encoders : Connection - Point-to-point communication where each output wire represents a different data bit : Benefits -Direct output to digital inputs -Fast (60us typically) : Name (Date)23 : Drawbacks - Complex cabling due to separate bit wires - High cost Parallel Output

24 : SICK, Inc.: Confidential : Synchronous Serial Interface (SSI) -Very common serial interface standard for industrial applications -Developed by Stegmann in 1984 for absolute encoders – now in many products : Connection - Point-to-point connection from a master (PLC, microcontroller) to a slave (encoder) : Benefits -Simple cabling, especially compared to parallel outputs -Fast communication speeds -Low cost : Name (Date)24 : Drawbacks - Point-to-point connection, topology restrictions Synchronous Serial Interface (SSI)

25 : SICK, Inc.: Confidential Network Encoders : What do we (or the customer) mean when we say network encoder? -A network is a collection of products (sensors, HMIs, processes, etc) that are connected to a central controller or share information between parts. -Also known as Field Bus -Example: an Internet VPN (virtual private network): : Name (Date)25

26 : SICK, Inc.: Confidential : Field Bus -Industrial network system that connects multiple products in a manufacturing plant or on a machine : Benefits -Products are no longer point-to-point which allow multiple products to be connected to one controller -Generally does not require as many cables as a point to point configuration, and cables do not need to be as long. This saves on system costs. -Typically the controller has more flexibility for configuration and information gathering : Disadvantages -The network topologies are generally more complex -Individual components cost more than standalone products (potential system savings, however) : Name (Date)26 Field Bus Interfaces

27 : SICK, Inc.: Confidential SICK Absolute Encoder Fieldbus Interfaces : Name (Date)27 ATM60 Series AFx60 Series

28 : SICK, Inc.: Confidential Electrical Interface Summary Things to know when choosing an encoder : Incremental Encoders -Resolution (PPR) -Supply Voltage -Output Voltage (HTL, TTL or Open Collector) -Programmable Encoders: DFS60 and DFS2x encoders let you program ALL electrical configurations except an open collector output : Absolute Encoders -Resolution (singleturn, multiturn) -Output type Parallel (output voltage needed) SSI Fieldbus -Programmable Encoders Programmable options for SSI encoders to program the resolution. All field bus encoders are programmable over their respective networks : Name (Date)28

29 : SICK, Inc.: Confidential Encoder Selection Process 29 Mechanical Considerations Electrical Interface Type (Rotary, Linear, Incremental, Absolute)

30 : SICK, Inc.: Confidential30 : Housings and Connection -Housing Size -Cable or Connector : Shafts -Solid, blind hollow, through hollow -Sizes, shaft load : Flange -Face mounting flange -Servo flange -Square Flange -Tethers Mechanical Characteristics

31 : SICK, Inc.: Confidential Encoder Selection Process 31 Mechanical Considerations Electrical Interface Type (Rotary, Linear, Incremental, Absolute)

32 : SICK, Inc.: Confidential Product Overview - Rotary Encoders Absolute Singleturn EncodersAbsolute Multiturn Encoders 32

33 : SICK, Inc.: Confidential Product Overview - Linear Encoders 33

34 : SICK, Inc.: Confidential Key Products in 2013 Choice encoders that will solve most applications 34 AFx60 Series With Ethernet DFS60 with PGT-10-S Programming Tool BCG Wiredraw with Analog Output DFS20/25 Incremental Encoder Handheld, battery operated programming tool Easy menu structure for fast setup and flexibility Can be used for diagnostics with the display or as a cloning module USA sized encoders with SICKs F-Technology: Wide set bearings for even shaft loading Metal code disc for high vibration and temperature Programmable using the PC-based tool Absolute single- and multi- turn encoders with EtherNet/IP, EtherCAT, and Profinet interfaces Device Level Ring (DLR) functionality with the EtherNet/IP version Superior diagnostics for temperature, speed, runtime, and many more Compact wiredraw encoder for applications in tight spaces Up to 10m of measuring length Analog output scalable directly on the encoder for fast commissioning

35 : SICK, Inc.: Confidential Handling Wood industry Automotive Ports & Cranes Packaging Machine Tooling Print & Paper … And many more Fields of applications 35

36 : SICK, Inc.: Confidential Application Examples 36 OVERHEAD CRANE– AFM60 EtherNet/IP used to track position of crane CONVEYORS – DKV60 used to track speed of conveyor

37 : SICK, Inc.: Confidential Application Examples 37 WIND TURBINE – Absolute encoder AFM60 for gandala and blade angle tracking BOTTLING – Absolute encoder AFS60 to track position of fillers

38 : SICK, Inc.: Confidential Application Examples 38 STADIUM ROOF – Position with KH53 Linear Encoder LIFT APPLICATIONS – Height and Width positioning using BGC Wiredraw Encoders

39 : SICK, Inc.: Confidential Additional Resources 39 Demonstration Videos & Application Animations SICK University Tour March – May 2013 Product TrainingDemo Cases Tech Tuesdays Check for schedulewww.sickusa.com

40 : SICK, Inc.: Confidential Marketing Tools 40 Encoder Selection GuideApplication BookEncoder Catalog *Update in 2013

41 : Thank you for your attention.


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