Overview
TUAKA Servo version comes with the following encoder options:
| Encoder | TUAKA Size | Communication Protocol | Datasheet link | |
|---|---|---|---|---|
| RLS AKSIM-2 | 103 - 107 | BiSS-C | EN_link | |
| SICK SEM70 | 103 | HiperFace | ||
| SICK SEM90 | 107 | HiperFace | ||
| Heidenhain KCI-1319 (single turn) KBI-1335 (Multi turn) | 103 - 107 | EnDat2.2 |
RLS AKSIM-2 Encoder
| MB Read Head | MB049DCC19MDNT00 | |||
|---|---|---|---|---|
| MRA Axial Magnetic Ring | MRA049AF025EMH00 | |||
| Supply Voltage | 4.5 - 5.5 V | |||
| Current consumption | typ. 130 mA - max. 150mA | |||
| Communication protocol | BiSS- C | |||
| Single turn Resolution | 19 bits | |||
| Multiturn Counter | 16 bits | |||
| Accuracy | ±0.007° * | |||
| Repeatability | < 0.0006° | |||
| Latency | < 10 µs |
*Accuracy after self-calibration of the encoder
Pinout:
See MANUAL
BiSS-C
Timing diagram:
Position bits = 35 bits
ACK = 12 bit
ERROR1 = 1 bit
WAR1 = 1 bit
CRC2 = 6 bits
Timeout = 13.5 µs
1Error and warning bits are active low
2CRC is inverted and transmitted MSB first. CRC polynomial = x6+x1+1 = 0x43
Register Access
You can access different registers in the RLS encoder using the BiSS protocol.
Refer to the Link below for more information:
Registers Access Link
Self Calibration of the Encoder
Refer the self calibration section in the encoder’s datasheet : EN_link
SICK Encoders
SICK SEM70
| Product Number | SICK SEM70-HN050AK22 | SICK SEM90-HN050AK22 | ||
|---|---|---|---|---|
| Communication interface | HIPERFACE | HIPERFACE | ||
| Supply voltage | 7 to 12 V DC | 7 to 12 V DC | ||
| Recommended supply voltage | 11 V DC | 11 V DC | ||
| Current consumption | <150 mA 1 | <150 mA 1 | ||
| Sine/Cosine PPR | 32 | 64 | ||
| Number of multi-turn revolutions | 4096 | 4096 | ||
| Total number of steps | 4194304 | 8388608 | ||
| Measuring step | 10” for interpolation of sine/cosine signals with e.g 12bit | 5” for interpolation of sine/cosine signals with e.g 12bit | ||
| Latency | 25 µs | 25 µs | ||
| System accuracy | ±155” | ±117” | ||
| MTTF (Mean time to dangerous failure) | 155 years (EN ISO 13849)2 | 160 years (EN ISO 13849)2 |
1 at 7 V DC and without load.
2 This product is a standard product and does not constitute a safety component as defined in the Machinery Directive. Calculation based on nominal load of components, average ambient temperature 60°C, frequency of use 8760 h/a. All electronic failures are considered hazardous
Pinout
COPY THE DATA FROM THE MANUAL
HiperFace
Refer to Hiperface Specification document in the following link : HiperFace specification document
Heidenhain Encoders
Heidenhain Encoder
| Specifications | KCI 1319 singleturn | KBI 1335 multiturn | ||
|---|---|---|---|---|
| Interface | EnDat2.2 | EnDat2.2 | ||
| Singleturn Resolution | 19 bits | 19 bits | ||
| Multiturn Resolution | 16 bits | |||
| Max clock frequency | 16 MHz | 16 MHz | ||
| Accuracy | ±90” | ±90” | ||
| Power consumption | At 3.6 V: ≤ 650 mW At 14 V: ≤ 700 mW | At 3.6 V: ≤ 650 mW At 14 V: ≤ 700 mW | ||
| Supply voltage | 3.6 V to 14 V DC | Encoder UP: 3.6 V to 14 V DC Battery UBat: 3.6 V to 5.25 V DC | ||
| Current consumption | At 5V : 95mA | At 5V : 95mA Battery1: 200 µA (rotating shaft) 20 µA (at standstill) |
1 At T = 25° UBat=3.6 V
Pinout
COPY THE DATA FROM THE MANUAL
EnDat2.2
Refer to the EnDat2.2 protocol specification in the following link : Specification EnDat2.2 protocol