Up to 16 absolute encoders can be connected to the Pluto CAN bus. One of the Pluto units on the bus must have software option for communication with the encoders. This special Pluto sends cyclic a sync telegram, which trigs all encoders on the bus to read the position and send a telegram with the position value back to the bus. The special Pluto can read the encoder telegrams and evaluate them. With block functions in the PLC code it is then possible to make a dual channel function with two encoders. Out of this the user gets failsafe values for position and speed including stand still monitoring and over speed detection.
The encoders are standard absolute encoders with modified software to meet the safety requirements.
Reaction Time:
The encoders are read every 10 ms. The system tolerates that a single reading of an encoder fails, but if two or more fails, it leads to failure alarm. This leads to the response times as below.
Response Time:
- Normal conditions:11 ms + program
- execution time ≈ 14 ms
- Flange type63, Synchro
- Outer diameterø58 mm
- Mounting holes3 x M4
- Flange materialAluminum
- Surface treatmentTrumbled
- Electrical Data
- Power supply9-36VDC
- Polarity protectedYes
- Output interfaceCANopen
- Supported profileEncoder profile DSP 406 v3.1
- Baud rateSettabel via switch, max. 1Mbit/s
- Node addressSettable via DIP switches,
- 0...99
- Zero-set functionPushbutton or
- CANopen object
- Code typeBinary
- Supported functionsCode sequence, Preset,
- Velocity, Scaling, Acceleration, PDO mapping,
- Heartbeat and Node Guarding
- Current consumption90 mA @ 24VDC
- Max current consumption150 mA @ 24VDC (3.6W)
- By fault:31 ms + program
- execution time ≈ 34 ms
- Technical Data
- Encoder Data
- Type designationRSA 608
- Operating Temperature-40°C - +70°C
- Storage Temperature-30°C - +70°C
- Protection class
- IngressIP67 according to IEC 60529
- At shaft inletIP-66 according to IEC 60529
- Vibration (55 to 2000Hz)< 100 m/s2
- according to IEC 60068-2-6
- Shock (6ms)<2000 m="" s2="" span="">
- according to IEC 60068-2-27
- Cover materialAluminum
- Cover surface treatmentAnodized
- WeightApprox. 400g
- Accuracy and Resolution
- Total Resolution25
- Single turn resolution13 Bit,
- 8192 positions per revolution
- Multiple resolution12 Bit,
- 4096 absolute number of revoutions
- Accuracy±1 LSB
- Shaft typeØ 10 round
- Axial shaft load50 N
- Radial shaft load60 N
- Mech. permissible speed6000 rpm
- Shaft materialStainless steel
- Moment of inertia2,0 x 10-6 kgm2
- Flange type63, Synchro
- Outer diameterø58 mm
- Mounting holes3 x M4
- Flange materialAluminum
- Surface treatmentTrumbled
