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

Encoder1
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:

 

Encoder2

Heidenhain Encoders

Encoder5

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