T
SEW
Encoder Systems
Manual
Edition 07/99
0919 6412 / 0799
18/005/98
Encoder type
Shaft design
Specification
Interface to
evaluation
Unit Designation
E
S
1
T
A
C
R
S
T
Y
6
1
2
S
V
H
E
A
N
X
Design as mounting device
V = 24 VDC, HTL with zero track and negated signals
V = 24 VDC, TTL RS-422
V = 24 VDC, sin/cos 1 VSS
V = 5 VDC, TTL RS-422
SSI interface
Number of pulses per revolution (proximity sensor)
Design
Spread shaft
Solid shaft
Hollow shaft
Incremental encoder (encoder)
Absolute encoder
Proximity sensor
Non-SEW encoder
01861AEN
Fig. 1: Unit designation of SEW encoder systems
2
SEW encoder systems
Contents
Page
1
System Description .....................................................................................4
1.1 System overview.............................................................................................................. 4
2
Technical Data ..........................................................................................7
2.1 Technical description .......................................................................................................7
2.1.1 Incremental encoders with TTL and HTL signals ................................................... 7
2.1.2 Incremental encoders with high-resolution sin/cos signals................................... 9
2.1.3 Absolute encoders with MSSI interface ............................................................... 10
2.1.4 Resolver .............................................................................................................. 12
2.1.5 Proximity sensors................................................................................................ 13
2.2 Incremental encoders .................................................................................................... 14
2.2.1 Incremental encoders with spread shaft.............................................................. 14
2.2.2 Incremental encoders with solid shaft ................................................................. 15
2.3 Absolute encoder ........................................................................................................... 16
2.4 Resolver......................................................................................................................... 17
2.5 Proximity sensors.......................................................................................................... 18
2.6 Mounting devices .......................................................................................................... 19
3
Installation............................................................................................. 20
3.1 General information ....................................................................................................... 20
3.2 Incremental encoders .................................................................................................... 21
3.2.1 Encoders for MOVITRAC® 31C frequency inverters............................................ 21
3.2.2 Encoders for MOVIDRIVE® MDV60A drive inverters ......................................... 22
3.3 AV1Y absolute encoder.................................................................................................. 24
3.3.1 Absolute encoder with MOVIDYN® MAS/MKS51A servo controller.................. 24
3.3.2 Connection of absolute encoder to MOVIDRIVE® MDS60A drive inverter ........ 25
3.3.3 Absolute encoder with MOVIDRIVE® MDV60A drive inverter ............................ 25
3.4 Resolver......................................................................................................................... 26
3.4.1 Resolver with MOVIDYN® MAS/MKS51A servo controller .............................. 26
3.4.2 Resolver with MOVIDRIVE® MDS60A drive inverter......................................... 27
3.5 Proximity sensors.......................................................................................................... 28
3.6 Extended motor versions with encoder and mounting devices ...................................... 29
3.6.1 Incremental encoders ES1_/ES2_/EV1_ .............................................................. 29
3.6.2 Encoder mounting devices ES1A/ES2A/EV1A...................................................... 31
3.6.3 Absolute encoder AV1Y ....................................................................................... 34
3.6.4 Encoder mounting devices AV1A......................................................................... 36
3.7 Pre-fabricated cables ..................................................................................................... 37
SEW encoder systems
3
1
System Description
1
System Description
1.1
System overview
Encoder systems for
asynchronous AC motors
Encoders
Encoder systems for
synchronous motors
Absolute encoders
and resolvers
01863BEN
Fig. 2: System overview, SEW drive electronics and encoder systems
Electronically controlled drive systems require actual value sensing and speed feedback; drives
with synchronous motors also require the angle of the rotor position. As a systems supplier, SEW
offers a comprehensive range of encoder systems.
Various mounting devices are available to connect non-SEW encoders to SEW motors.
Proximity sensors represent an inexpensive and easy-to-fit solution, if all that is required is the
information about whether or not the drive is turning and in which direction.
4
SEW encoder systems
System Description
1
SEW encoder systems for asynchronous AC motors:
• Incremental encoders
- for 5 VDC supply voltage and with 5 V TTL signal level according to RS-422
recommended for operation with the MOVITRAC® 31C frequency inverter
- for 24 VDC supply voltage and with high-resolution sinusoidal signal level
recommended for operation with the MOVIDRIVE® drive inverter
- for 24 VDC supply voltage and with 5 V TTL signal level according to RS-422
- for 24 VDC supply voltage and with 24V HTL signal level
• Absolute encoder
- for 15 VDC supply voltage and with MSSI interface
- for 24 VDC supply voltage and with MSSI interface and two sinusoidal tracks
• Proximity sensors
- with six pulses per revolution
- with A track or A+B track
• Mounting devices for non-SEW encoders
- mounting of spread shaft
- mounting of full shaft with coupling
SEW encoder systems for asynchronous servomotors:
• Incremental encoders
- for 24 VDC supply voltage and with high-resolution sinusoidal signal level
standard feature in CT/CV motors
- for 24 VDC supply voltage and with 5 V TTL signal level according to RS-422
• Absolute encoder
- for 24 VDC supply voltage and with MSSI interface and two sinusoidal tracks
SEW encoder systems for synchronous servomotors:
• Resolver
standard with synchronous servomotors for speed control
• Absolute encoder
15/24 VDC supply voltage with MSSI interface
Encoder selection based on setting range:
• Setting range up to 1:3000
- with asynchronous AC motors → encoder with TTL signals and
1024 increments/revolution
- with synchronous motors → built-in resolver
• Setting range up to 1:5000
- with asynchronous AC motors → encoder with high-resolution sinusoidal signal levels
- with asynchronous servomotors → encoder with high-resolution sinusoidal signal levels
SEW encoder systems
5
1
System Description
All encoder systems at a glance:
Name
For SEW motor
Type of encoder
size
Shaft
Specification
ES1C
1 VSS sin/cos
CT/DT
71...100
24 VDC
ES1R
ES2C
CV/DV
112...132S
Encoder
-
5 VDC controlled 5 VDC TTL RS-422
1 VSS sin/cos
24 VDC
5 VDC controlled 5 VDC TTL RS-422
EV1T*
EV1S**
CT/CV71...180
EV1C
DT/DV71...225
1 VSS sin/cos
Solid shaft
24 VDC
AV1Y
24 VDC HTL
5 VDC TTL RS-422
EV1R
NV26
24 VDC HTL
5 VDC TTL RS-422
ES2R
NV16
24 VDC HTL
5 VDC TTL RS-422
Spread shaft
ES2T*
ES2S**
Signal
5 VDC controlled 5 VDC TTL RS-422
ES1T*
ES1S**
Supply
DT/DV
71...132S
Proximity sensor
Solid shaft
DS56
DY71...112
Absolute encoder
CT/CV71...180
DT/DV71...225
Solid shaft
A track
24 VDC
6 pulses/revolution, NO contact
-
15/24 VDC
MSSI interface
and 1 VSS sin/cos
Specification
Supply
Signal
A+B track
* recommended encoder for operation with MOVITRAC® 31C
** recommended encoder for operation with MOVIDRIVE®
Mounting devices for non-SEW encoders
Name
6
For SEW motor
Type of encoder
size
ES1A
DT71...100
ES2A
DV112...132S
EV1A
DT/DV71...225
AV1A
DS56,
DY71...112
XV1A
DT/DV71...225
Shaft
Spread shaft
Non-SEW
encoder
Solid shaft
-
Configured as mounting device
Solid shaft
Solid shaft
SEW encoder systems
Technical Data
2
Technical Data
2.1
Technical description
2
This chapter explains the various types of signals, signal tracks and signal levels. The signal tracks
are represented in the form of timing diagrams.
Encoders have a sturdy light metal housing and generously sized precision ball bearings. Their
solid metal housing protects the encoders against interference, which lends them a high degree of
electromagnetic compatibility.
2.1.1
Incremental encoders with TTL and HTL signals
Encoders convert the angle of rotation input parameter into a number of electrical pulses. This is
performed by means of an incremental disc incorporating radial slits permitting the passage of
light. These slits are scanned by opto-electronic means. The number of slits defines the resolution
(pulses/revolution).
Signal tracks:
SEW encoders are encoders with two tracks and one zero pulse track, which results in six tracks
due to negation. Two light barriers are arranged at right angles to one another in the encoder. They
supply two pulse sequences on tracks A (K1) and B (K2). Track A (K1) is 90° ahead of B (K2) when
the encoder is turning clockwise (to the right as viewed looking onto the motor shaft, the “A” side).
This phase relationship is used for determining the direction of rotation of the motor. The zero
pulse (one pulse per revolution) is sensed by a third light barrier and made available on track C
(K0) as a reference signal. With TTL encoders, tracks A (K1), B (K2) and C (K0) are negated in the
encoder and made available on tracks A (K1), B (K2) and C (K0) as negated signals.
A (K1)
A (K1)
180°
360°
90°
B (K2)
B (K2)
90°
C (K0)
C (K0)
01877AXX
Fig. 3: TTL signals with zero track and negated signals
HTL signals with zero track, but without negated signals
SEW encoder systems
7
2
Technical Data
Signal levels:
• TTL (Transistor Transistor Logic) version
The signal levels are Vlow ≤ 0.5 V and Vhigh ≥ 2.5 V. The TTL signals are transmitted symmetrically and evaluated differentially. This design makes them resistant to asymmetrical interference
and ensures good EMC behavior. The signal is transmitted in accordance with the RS-422 interface standard.
Units with a 5 VDC encoder supply voltage, e.g. MOVITRAC® 31C, allow the user to measure the
actual supply voltage at the encoder via sensor leads. The supply voltage is corrected to 5 VDC
and compensates for the voltage drop along the supply cable to the encoder. Encoders with
24 VDC supply voltage do not require any supply voltage compensation and, thus, no sensor leads.
The maximum permissible distance between encoder and inverter is limited by the maximum
pulse frequency of the encoder signals. SEW permits a maximum distance between encoder and
inverter of 330 ft. (100 m).
V [VDC]
5
"1" range
K
2.5
0 0.5
"0" range
V [VDC]
5
"1" range
K
2.5
0 0.5
"0" range
TTL
02542AEN
Fig. 4: View of TTL signal levels
• HTL (High-voltage Transistor Logic) version
The signal levels are Vlow ≤ 3 V and Vhigh ≥ VB minus 3.5 V. The HTL encoder is evaluated without the
negated tracks; the signals cannot be evaluated differentially. The HTL signals are, therefore, susceptible to asymmetric interferences affecting the EMC behavior.
VB is the encoder supply voltage in the range of 10 to 30 VDC, with 24 VDC +/- 20% being the most
common value. HTL encoders do not require any supply voltage compensation and, thus, no sensor
leads. The large voltage range between Vhigh-VLow results in a high current consumption. A fact that
has to be taken into consideration when planning the encoder supply.
The maximum permissible distance between encoder and inverter is limited by the maximum
pulse frequency of the encoder signals. SEW permits a maximum distance between encoder and
inverter of 330 ft. (100 m).
V [VDC]
24
K
"1" range
20.5
3
"0" range
0
HTL
02543AEN
Fig. 5: View of HTL signal levels
8
SEW encoder systems
Technical Data
2.1.2
2
Incremental encoders with high-resolution sin/cos signals
Encoders with high-resolution sin/cos signals are referred to as sine encoders. They provide two
sine signals offset by 90°. The zero passages and the amplitudes (arc tan) of the sine/cosine waves
are evaluated. This means the speed can be determined with a very high resolution. This encoder is
suitable for drives which are operated with a wide setting range in conjunction with the requirement to move smoothly at low speed.
Signal tracks:
SEW sinusoidal encoders are also dual-track encoders with a zero pulse and negated signals,
resulting in six tracks. The 90° offset sine signals are on track A (K1) and B (K2). One sine halfwave per revolution is provided at track C (K0) as the zero pulse. Tracks A (K1), B (K2) and C (K0)
are negated in the encoder and made available on tracks A (K1), B (K2) and C (K0) as negated signals.
A (K1)
1V
A (K1)
180°
360°
90°
B (K2)
B (K2)
90°
C (K0
C (C0)
01917AXX
Fig. 6: sin/cos signal s with zero track and negated tracks
Signal levels:
• The sine/cosine signals are superimposed on a DC voltage of 2.5 V. They have a peak-to-peak
voltage of VSS = 1 V. This arrangement avoids voltage zero during signal transmission. The sine/
cosine signals are transmitted symmetrically and evaluated differentially. This design makes them
resistant to asymmetrical interference and ensures good EMC behavior. The signal is transmitted
in accordance with the RS-422 interface standard. The supply voltage is 24 VDC .
Sine encoders do not require any supply voltage compensation and, thus, no sensor leads.
The maximum permissible distance between encoder and inverter is limited by the maximum
pulse frequency of the encoder signals. SEW permits a maximum distance between encoder and
inverter of 330 ft. (100 m).
SEW encoder systems
9
2
Technical Data
2.1.3
Absolute encoders with MSSI interface
SEW absolute encoders have a code disc with Gray Code instead of the incremental disc. This code
disc is scanned by opto-electronic means. Every angle position has a unique code pattern assigned
to it. The absolute position of the motor shaft is determined using this code pattern. The special
feature of Gray Code is that only one bit changes with the transition from one resolvable angle step
to the next. This means the possible reading error is max. 1 bit.
Decimal Gray Code
Decimal Gray Code
0
0000
8
1100
1
0001
9
1101
2
0011
10
1111
3
0010
11
1110
4
0110
12
1010
5
0111
13
1011
6
0101
14
1001
7
0100
15
1000
01927AXX
Fig. 7: Code disc with Gray Code
Multi-turn:
In addition to the code disc for sensing the angle position, multi-turn absolute encoders have additional code discs for absolute sensing of the number of revolutions. These code discs are only separated from each other by one gear unit stage with the reduction i = 16. With three additonal code
discs (number usually installed), 16 x 16 x 16 = 4096 revolutions can be resolved absolutely.
Code disc for sensing
of angle position
Code discs for sensing
the number of revolutions
i = 16
i = 16
i = 16
02383AEN
Fig. 8: Arrangement of code discs
A single-turn absolute encoder with 12 bit resolution requires 12 pulses to display the 4096 measuring steps per revolution. A multi-turn absolute encoder with three additional code discs
requires 12 additional pulses to display the 4096 distinguishable revolutions.
Single-turn evaluation
Pulse
Data
1
0
2
2
2
3
1
2
2
4
2
5
3
6
4
5
2
2
7
2
8
6
7
2
9
2
10
8
9
11
10
2
2
23
12
211
Measuring steps per revolution
in addition with multi-turn evaluation
Pulse
13
14
15
16
17
18
19
20
21
22
Data
0
1
2
3
4
5
6
7
8
9
2
2
2
2
2
2
2
2
2
2
2
10
24
211
distinguishable revolutions
10
SEW encoder systems
Technical Data
2
Signal outputs:
Every scanned code pattern is a parallel data package and is read by a parallel/serial converter. The
inverter must request the position value with a defined pulse sequence in order to transmit a position value from the encoder to the inverter. The pulse sequence starts by converting the current
parallel data package and transmitting it to the inverter. The input of the parallel/serial converter is
inhibited by the monoflop for the duration of the pulse sequence.
Code disc
Monoflop
Input
circuit
SI
Shift
Parallel/Serial
converter
Schmitt
trigger
Photo
transmitter
Photo
receiver
Cycle
Inverter
Driver
SO
Serial
data
Parallel data
01923AEN
Fig. 9: Signal conditioning in absolute encoders with SSI interface
In addition to the absolute angle position, the SEW absolute encoders generate the incremental
encoder signals A (K1), A (K1), B (K2)und B (K2) and make them available as 1 VSS sine signals.
Signal transmission:
SEW absolute encoders have an SSI interface (SSI = Synchronous Serial Interface) to transmit the
absolute value signals and a RS-485 interface for transmission of the 1 VSS sine signals.
Cycle
Serial
data
Monoflop P/S
Parallel
data
01928AEN
Fig. 10: Pulse diagram of data transmission via SSI interface
SEW encoder systems
11
2
Technical Data
2.1.4
Resolver
The resolver determines the absolute position of the motor shaft. It consists of a rotor coil and two
stator windings offset by 90° in relation to each other. It operates according to the principle of the
rotary transformer. Furthermore, the resolver has one auxiliary winding each in the stator and on
the rotor in order to transfer the supply voltage to the rotor without brushes. Both rotor windings
are electrically connected.
γ
stationary
V1
stationary
rotating
S2
R1
stator
Ve
rotor
VR
stator
V2
S4
R2
V2
VR
stator
V1
S1
stationary
S3
01931AEN
Fig. 11: Schematic diagram and equivalent circuit diagram of the resolver
Signal outputs:
Voltages of varying magnitudes are induced in the stator windings depending on the rotor position.
Voltages V1 and V2 on the two stator windings are modulated by the supply voltage through induction. They possess sinusoidal envelopes. The two envelopes are electrically offset by 90° from one
another and are evaluated in the inverter for zero passage and amplitude. This enables the rotor
position, speed and direction of rotation to be established.
V1
V2
00058AXX
Fig. 12: Output voltages V1 and V2 of the resolver
Signal level:
The amplitude of the envelope depends on the r.m.s. value and frequency of the supply voltage Ve.
12
SEW encoder systems
Technical Data
2.1.5
2
Proximity sensors
Proximity sensors represent a simple and inexpensive means of monitoring whether the motor is
turning. By using a two-track proximity sensor, it is also possible to determine the direction in
which the motor is rotating. Proximity sensors are mounted on the side of the fan guard, and thus
do not add to the length of the motor.
Signal outputs:
Proximity sensors react to the attenuation lugs on the fan. The number of attenuation lugs determines the number of pulses per revolution.
01929AXX
Fig. 13: Setup of the proximity sensor system
The proximity sensors are constructed with HTL technology and have an NO contact output which
is actuated every time there is a pulse. This NO contact output switches the connected supply voltage. Proximity sensors have a mark-to-space ratio of 1:1.
VB
PNP
A
90°
additional with two-track proximity sensor
VB
PNP
B
01930AEN
Fig. 14: Signal output of the proximity sensors
Signal level:
The signal level is determined by the supply voltage, usually 24 VDC.
SEW encoder systems
13
2
Technical Data
2.2
Incremental encoders
2.2.1
Incremental encoders with spread shaft
01934AXX
Fig. 15: SEW encoder with spread shaft
Encoder type for asynchronous AC
motors 71...100
ES1T*
ES1S**
ES1R
ES1C
Encoder type for asynchronous AC
motors 112...132S
ES2T*
ES2S**
ES2R
ES2C
Supply voltage
VB
5 VDC ±5 %
Max. current consumption
Iin
180 mARMS
24 VDC ±20 %
160 mARMS
Max. pulse frequency
fmax
120 kHz
Pulses (sine periods) per
revolution
A, B
C
1024
1
Output amplitude per track
Vhigh
Vlow
Signal output
Output current per track
Iout
180 mARMS
340 mARMS
≥ 2.5 VDC
≤ 0.5 VDC
1 VSS
≥ 2.5 VDC
≤ 0.5 VDC
≥ VB minus 3.5 VDC
≤ 1.5 VDC
5 V TTL
sin/cos
5 V TTL
HTL
20 mARMS
40 mARMS
20 mARMS
60 mARMS
Mark-to-space ratio
1 : 1 ±20 %
Phase angle A : B
90° ±20 %
Ambient temperature
ϑamb
-25 °C...+60 °C (EN 60721-3-3, class 3K3)
Enclosure
IP56 (EN 60529)
Connection
Terminal box on encoder
®
* recommended encoder for operation with MOVITRAC 31C
** recommended encoder for operation with MOVIDRIVE®
14
SEW encoder systems
Technical Data
2.2.2
2
Incremental encoders with solid shaft
01935AXX
Fig. 16: SEW encoder with solid shaft
Encoder type
EV1T*
For motors
EV1S**
EV1R
asynchronous AC motors DT/DV/D 71...225
Supply voltage
VB
5 VDC ±5 %
Max. current consumption
Iin
180 mARMS
24 VDC ±20 %
160 mARMS
Max. pulse frequency
fmax
120 kHz
Pulses (sine periods) per
revolution
A, B
C
1024
1
Output amplitude per track
Vhigh
Vlow
Signal output
Output current per track
Iout
180 mARMS
340 mARMS
≥ 2.5 VDC
≤ 0.5 VDC
1 VSS
≥ 2.5 VDC
≤ 0.5 VDC
≥ VB minus 3.5 VDC
≤ 1.5 VDC
5 V TTL
sin/cos
5 V TTL
HTL
20 mARMS
40 mARMS
20 mARMS
60 mARMS
Mark-to-space ratio
1 : 1 ±20 %
Phase angle A : B
90° ±20 %
Ambient temperature
EV1C
ϑamb
-25 °C...+60 °C (EN 60721-3-3, class 3K3)
Enclosure
IP56 (EN 60529)
Connection
Terminal box on encoder
®
* recommended encoder for operation with MOVITRAC 31C
** recommended encoder for operation with MOVIDRIVE®
SEW encoder systems
15
2
Technical Data
2.3
Absolute encoder
01933BXX
Fig. 17: SEW absolute encoder
Encoder type
AGY
synchronous servomotors DS56, DY71...112
asynchronous servomotors CT/CV71...180
asynchronous AC motorsDT/DV71...225
For motors
Supply voltage
VB
10 – 15 – 24 – 30 VDC protected against polarity reversal
Max. current consumption
Iin
250 mA
Max. stepping frequency
fmax
Pulses (sine periods) per revolution
A,B
Output amplitude per track
512
1 VSS sin/cos
Sensing code
Gray Code
Single-turn resolution
4096 steps/revolution (12 bits)
Multi-turn resolution
4096 revolutions (12 bits)
Data transfer, absolute values
Synchronous, serial (SSI)
Serial data output
Driver to EIA RS-485
Serial pulse input
Opto-coupler, recommended driver to EIA RS-485
Switching frequency
Permitted range: 90 – 300 – 1100 kHz
(max. 330 ft./100 m cable length with 300 kHz)
12 – 35 µs
Monoflop time
≤ 100 m/s2 (DIN IEC 68-2-6)
Vibration (55...2000 Hz)
Maximum speed
Mass
Operating temperature
16
≥ 100 kHz
nmax
m
ϑamb
6000 rpm
0.30 kg
-15 °C...+60 °C (EN 60721-3-3, class 3K3)
Enclosure
IP65 (EN 60529)
Connection
3.3 ft/1 m cable with 17-pin round connector plug
for socket plug SPUC 17B FRAN
SEW encoder systems
Technical Data
2.4
2
Resolver
MD0116AX
Fig. 18: SEW resolver
Encoder type
RH1M
synchronous servomotors
For motors
DS56
Supply voltage
V12
Max. current consumption
I12
DY71
Output impedance
Operating temperature
Connection
SEW encoder systems
DY112
7 VAC_eff / 7 kHz
70 mA
60 mA
Number of poles
Ratio
DY90
30 mA
2
r
ZSS
ϑB
0.5
0.45
0.46
200...330 Ω
130...270 Ω
350...500 Ω
-55 °C...+125 °C
Terminal box (10-pin Phoenix terminal strip) or plug connector,
depending on motor type
Plug connector DS56: Intercontec, type ASTA021NN00 10 000 5 000
Plug connector DY71...112: Framatone Souriou, type GN-DMS2-12S
17
2
Technical Data
2.5
Proximity sensors
01932AXX
Fig. 19: SEW proximity sensors
Encoder type
NV16
For motors/brake motors
Supply voltage
asynchronous AC motors 71(BMG)...132S(BMG)
10 – 24 – 65 VDC
VB
Max. operating current
Imax
200 mA
Max. pulse frequency
fmax
1.5 kHz
Pulses/revolution
6
A track
Output
1 : 1 ±20 %
Phase angle A : B
Ambient temperature
6
A+B track
NO contact (pnp)
Mark-to-space ratio
18
NV26
ϑamb
90° ±45 % (typical at 20 °C)
0 °C...+60 °C (EN 60721-3-3, class 3K3)
Enclosure
IP67 (EN 60529)
Connection
M12 × 1 connector, e.g. RKWT4 (Lumberg)
SEW encoder systems
Technical Data
2.6
2
Mounting devices
01949AXX
Fig. 20: Mounting device for non-SEW encoders
Mounting device
ES1A
ES2A
For motors
asynchronous AC motors 71...100
asynchronous AC motors 100...132S
For encoder
Spread shaft encoder with
8 mm center bore
Spread shaft encoder with
10 mm center bore
EV1A
AV1A
asynchronous AC motors
DT71...DV225
synchronous servomotors
DS56, DY71...112
Mounting device
For motors
For encoder
Solid shaft encoder (synchro flange)
Diameter of flange
58 mm
Diameter of center hole
50 mm
Diameter of shaft end
6 mm
Length of shaft end
10 mm
Mounting
3 pcs. encoder mounting clamps (bolts with eccentric discs)
for 3 mm flange thickness
See section 3.6.2, page 31 (ES1A, ES2A, EV1A) and section 3.6.4, page 36 (AV1A) regarding
dimensions and extended motor lengths for encoder mounting devices.
SEW encoder systems
19
3
Installation
3
Installation
3.1
General information
Always follow the operating instructions for the relevant inverter when connecting the encoder
to the SEW inverters!
• Max. line length (inverter – encoder):
330 ft (100 m) with a cable capacitance per unit length ≤ 120 nF/km (193 nF/mile)
• Core cross section: 0.25 – 0.5 mm2 (AWG24 – AWG20)
• Use a shielded cable with twisted pairs of cores (exception: HTL encoder cable) and connect the
shield at both ends:
- on the encoder in the PG fitting or in the encoder plug
- on the inverter to the electronics shield clamp or to the housing of the Sub D connector
• Route the encoder cable separately from the power cables.
Connect the shield of the encoder cable over a large surface area:
• on the inverter
01937AXX
Fig. 21: Connect the shield to the electronics shield clamp of the inverter
01939BXX
Fig. 22: Connect the shield in the Sub D connector
• on the encoder
01948AXX
Fig. 23: Connect the shield to the PG fitting of the encoder
20
SEW encoder systems
Installation
3.2
3
Incremental encoders
01936AXX
Fig. 24: Connecting terminals of the SEW encoder
3.2.1
Encoders for MOVITRAC® 31C frequency inverters
SEW recommends the 5 V TTL encoders ES1T, ES2T or EV1T for operation with the MOVITRAC®
31C frequency inverter. The sensor leads have to be connected in order to compensate the encoder
supply voltage. Connect the encoder as follows:
max. 100 m (330 ft)
ES1T / ES2T / EV1T
UB ⊥ K1 K2 K0 K1 K2 K0
UB ⊥ A B C A B C
A (K1)
A (K1)
B (K2)
B (K2)
C (K0)
C (K0)
UB
88
89
90
91
92
93
94
95*
96*
97
⊥
y
*
X6:
MC31C
FEN 31C/
FPI 31C
y
Connect the sensor leads on the encoder to UB and ⊥, do not jumper them on the encoder!
Fig. 25: Connection of TTL encoders ES1T, ES2T or EV1T to MOVITRAC® 31C
01585BXX
Channels K0 (C) and K0 (C) are only required for position control (FPI31C option). Channels K0 (C)
and K0 (C) are not required for speed control (FRN31C or FEN31C option) and synchronous operation (FRS31C option).
SEW encoder systems
21
3
Installation
3.2.2
Encoders for MOVIDRIVE® MDV60A drive inverters
The core colors indicated in the wiring diagrams according to color code meeting IEC757 correspond to the core colors of the pre-fabricated cables by SEW (→ section 3.7).
24 V sin/cos encoders ES1S, ES2S or EV1S
SEW recommends the high-resolution 24 V sin/cos encoders ES1S, ES2S or EV1S for operation
with the MOVIDRIVE® drive inverter. 24 V encoders do not require sensor leads. Connect the
encoder as follows:
ES1S / ES2S / EV1S
ES1R / ES2R / EV1R A (K1)
A (K1)
B (K2)
B (K2)
C (K0)
C (K0)
UB ⊥ K1 K2 K0 K1 K2 K0
UB ⊥ A B C A B C
UB
⊥
max. 100 m (330 ft)
X15:
YE
GN
RD
BU
PK
GY
WH
BN
VT
✂
1
6
2
7
3
8
9
5
4
y
9
6
5
1
y
01381BXX
Fig. 26: Connection of sin/cos encoder ES1S, ES2S or EV1S to MOVIDRIVE®
24 V TTL encoders ES1R, ES2R or EV1R
It is also possible to connect TTL encoders with 24 VDC encoder supply ES1R, ES2R, EV1R directly
to MOVIDRIVE® MDV60A. Install the TTL encoders in exactly the same way as the high-resolution
sin/cos encoders (→ Fig. 26).
HTL encoders ES1C, ES2C or EV1C
If you are using an HTL encoder ES1C, ES2C or EV1C, you must not connect the negated channels
A (K1), B (K2) and C (K0) to MOVIDRIVE® !
max. 100 m (330 ft)
ES1C / ES2C / EV1C
UB ⊥ K1 K2 K0 K1 K2 K0
UB ⊥ A B C A B C
A (K1)
A (K1)
B (K2)
B (K2)
C (K0)
C (K0)
UB
⊥
RD
PK
WH
BN
y
Fig. 27: Connection of HTL encoder ES1C, ES2C or EV1C to MOVIDRIVE®
22
X15:
YE
y
1
N.C. 6
2
N.C. 7
3
N.C. 8
9
5
N.C. 4
9
6
5
1
02558AXX
SEW encoder systems
Installation
3
5V TTL encoders ES1T, ES2T or EV1T
Use the “5 V encoder supply type DWI11A” MOVIDRIVE® option (part number 822 759 4) if you
have to connect an encoder with a 5 VDC encoder supply ES1T, ES2T or EV1T to MOVIDRIVE®. The
sensor leads have to be connected in order to compensate the supply voltage. Connect the encoder
as follows:
max. 5 m (16.5 ft)
6
5
1
A (K1)
A (K1)
B (K2)
B (K2)
C (K0)
C (K0)
UB
⊥
N.C.
YE
GN
RD
BU
PK
GY
WH
BN
VT
814 344 7
y
ES1T / ES2T / EV1T
UB ⊥ K1 K2 K0 K1 K2 K0
UB ⊥ A B C A B C
A (K1) YE
A (K1) GN
B (K2) RD
B (K2) BU
C (K0) PK
C (K0) GY
UB WH
⊥ BN
VT*
max. 100 m (330 ft)
DWI11A
6
9
1
5
y
1
6
2
7
3
8
9
5
4*
198 829 8
198 828 X
y
*
1
6
2
7
3
8
9
5
4
X1: MOVIDRIVE
9
1
6
2
7
3
8
9
5
4
9
X2: Encoder
X15:
6
5
1
y
Connect the sensor lead on the encoder to UB, do not jumper on the DWI11A!
Fig. 28: Connection of TTL encoder ES1T, ES2T or EV1T to MOVIDRIVE®
SEW encoder systems
01377BXX
23
3
Installation
3.3
AV1Y absolute encoder
The AV1Y absolute encoder has a permanently installed connector that is one meter long (3.3 ft.)
with a 17-pin round connector plug fitting socket plug SPUC 17B FRAN by Interconnectron. The
plug connection has the following pin assignment:
Pin
Core color of pre-fabricated cable
Description
6-core cable
10-core cable
7
Supply voltage VS
+13 – 15 – 24 VDC, protected against
polarity reversal
white (WH)
white (WH)
10
Supply voltage GND
Electrically isolated from the AGY
housing
brown (BN)
brown (BN)
14
Serial data output D+
“1” = High signal
yellow (YE)
black (BK)
17
Serial data output D-
“0” = High signal
green (GN)
violet (VT)
8
Clock line, current loop T+
7 mA towards T+ = “1”
pink (PK)
pink (PK)
9
Clock line, current loop T-
7 mA towards T- = “0”
grey (GY)
grey (GY)
15
Incremental encoder - signal A
1 Vss sin/cos
-
yellow (YE)
16
Incremental encoder - signal A
1 Vss sin/cos
-
green (GN)
12
Incremental encoder - signal B
1 Vss sin/cos
-
red (RD)
13
Incremental encoder - signal B
1 Vss sin/cos
-
blue (BU)
AV1Y is connected to:
• MOVIDYN® MAS/MKS51A servo controller with option “APA12 single axis positioning control”
• MOVIDRIVE® MDS60A drive inverter with option “DPA11A single axis positioning control”
• MOVIDRIVE® MDS/MDV60A drive inverter with option “DIP11A absolute encoder card”
Synchronous servomotors are speed-controlled with the resolver signals. Therefore, the incremental encoder signals A, A, B and B are not evaluated by MOVIDYN® MAS/MK51A or MOVIDRIVE®
MDS60A. The AV1Y connectors 12, 13, 15 and 16 will not be assigned in this instance. MOVIDRIVE® MDV60A uses the incremental encoder signals A, A, B and B for speed control of asynchronous motors. The AV1Y connectors 12, 13, 15 and 16 will be directed to X15: “ENCODER IN“ of
the MOVIDRIVE® MDV60A.
The core colors in the wiring diagrams according to color code meeting IEC757 correspond to the
core colors in the pre-fabricated SEW cables (→ section 3.7).
Absolute encoder with MOVIDYN® MAS/MKS51A servo controller
3.3.1
The AV1Y absolute encoder is connected to the APA12 option:
max. 100 m (330 ft)
AV1Y
11
12 10
13 16
9
17
15
14
8
1
2
3
4
5
6
7
8
9
14
17
10
7
T+ PK
T- GY
32
D+ YE
D- GN
34
GND BN
U WH
38
33
35
39
S
y
Fig. 29: Connection to MOVIDYN® MAS/MKS51A servo controller with APA12
24
APA12
X11:
y
01940BXX
SEW encoder systems
Installation
3
Connection of absolute encoder to MOVIDRIVE® MDS60A drive inverter
3.3.2
The AV1Y absolute encoder is connected to the DPA11A option:
max. 100 m (330 ft)
AV1Y
11
12 10
13 16
9
17
15
14
8
1
2
3
4
5
9
14
17
10
7
6
8
7
T+ PK
T- GY
32
D+ YE
D- GN
34
GND BN
U WH
38
33
DPA11A
X50:
35
39
S
y
y
01941BXX
Fig. 30: Connection to MOVIDRIVE® MDS60A drive inverter with DPA11A
The AV1Y absolute encoder is connected to the DIP11A option:
11
12 10
13 16
9
17
15
14
8
1
2
3
4
5
DIP11A
X62:
max. 100 m (330 ft)
AV1Y
7
6
3
9
T+ PK
T- GY
14
D+ YE
1
17
D- GN
6
10
GND BN
5
US WH
9
8
7
8
5
9
6
1
y (N.C.) 2
(N.C.) 4
y
(N.C.) 7
01942BXX
Fig. 31: Connection to MOVIDRIVE® MDS60A drive inverter with DIP11A
3.3.3
Absolute encoder with MOVIDRIVE® MDV60A drive inverter
The AV1Y absolute encoder is connected to the DIP11A option and to X15:
11
12 10
13 16
9
17
15
14
8
1
2
3
4
5
6
DIP11A
X62:
max. 100 m (330 ft)
AV1Y
7
8
9
14
17
10
7
T+ PK
T- GY
3
D+ BK
D- VT
1
GND BN
U WH
5
8
9
5
6
6
1
9
S
YE
15 A (K1)
GN
16 A (K1)
RD
12 B (K2)
BU
13 B (K2)
y (N.C.) 2
(N.C.) 4
y
(N.C.) 7 MOVIDRIVE
X15:
1
®
6
2
9
5
7
y (N.C.) 3
(N.C.) 4
6
1
(N.C.) 5
(N.C.) 8
(N.C.) 9
Fig. 32: Connection to MOVIDRIVE® MDV60A drive inverter with DIP11A
SEW encoder systems
02544AXX
25
3
Installation
3.4
Resolver
Resolvers are installed into SEW synchronous motors as standard feature. The inverter uses the
resolver signals to control the motor speed. The resolver connections are located in the terminal
box on a 10-pin Phoenix terminal strip or in the plug connection, depending on the motor type.
Plug connector DS56:
Plug connector DY71...112::
Intercontec, type ASTA021NN00 10 000 5 000
Framatone Souriou, type GN-DMS2-12S
Terminal/pin
Description
1
Ref.+
2
Ref.-
3
cos+
4
cos-
5
sin+
6
sin-
9
TF/TH
10
TF/TH
Core color in pre-fabricated cable
Reference
Pink (PK)
Gray (GY)
Red (RD)
Cosine signal
Sine signal
Motor protection
Blue (BU)
Yellow (YE)
Green (GN)
White (WH)
Brown (BN)
The resolver signals have the same numbers on the 10-pin Phoenix terminal strip and in the plug
connectors.
The resolver is connected to:
• MOVIDYN® MAS/MKS51A servo controller
• MOVIDRIVE® MDS60A drive inverter
The core colors in the wiring diagrams according to color code meeting IEC757 correspond to the
core colors in the pre-fabricated SEW cables (→ section 3.7).
3.4.1
Resolver with MOVIDYN® MAS/MKS51A servo controller
Connect the resolver as follows:
DFS56
DFY71...112
9
1
8
12 7
2 10
11
3
4
1)
6
5
max. 100 m (330 ft)
1
2
3
4
5
6
7
8
9
10
2)
Ref.+
Ref.cos+
cossin+
sinN.C.
N.C.
TF/TH
TF/TH
PK
GY
RD
BU
YE
GN
1
2
3
4
5
6
WH
BN
MAS51A/
MKS51A
X31:
Thermal
shut off
y
y
01952AEN
1) Plug connector
2) Terminal strip
Fig. 33: Connection to MOVIDYN® servo controller
26
SEW encoder systems
Installation
3
Resolver with MOVIDRIVE® MDS60A drive inverter
3.4.2
Connect the resolver as follows:
DFS56
DFY71...112
9
1
8
12 7
2 10
11
3
4
1)
6
5
max. 100 m (330 ft)
X15:
PK
GY
RD
BU
YE
GN
1 Ref.+
2 Ref.3 cos+
4
cos5
sin+
6
sin7
N.C.
8
N.C.
9 TF/TH WH
10 TF/TH BN
VT
2)
3
8
2
7
1
6
9
5
4
✂
y
9
6
5
1
y
01414AXX
1) Plug connector
2) Terminal strip
Fig. 34: Connection to MOVIDRIVE® MDS drive inverter
SEW encoder systems
27
3
Installation
3.5
Proximity sensors
Assembly:
1. Remove the closing plugs from the holes in the fan guard.
2. Place the assembly block with the initiator onto the guard (→ Fig. 35).
3. Fix the assembly block onto the guard with 2 bolts (make sure it is positioned straight).
Do not fit any other initiators!
1
1
2
Initiator
Mounting block
2
02009AXX
Fig. 35: NV16/26 encoder
Electrical connection
Connection via plug connector with M12×1 threading. The plug connector is not included in the
scope of supply. Possible plug connector: RKWT4 from Lumberg.
NV16 (A track) and NV26 (A+B track) proximity sensors have an NO contact which switches the
supply voltage VB onto signal output A or B.
NV16 / NV26
1 (VB)
3 (GND)
PNP
4 (A or B)
1
+
-
2
4
3
Evaluation
01943AEN
Fig. 36: Connection of the proximity sensor
Channel A or channels A and B must be set on appropriately programmed binary inputs of the control if a machine control is going to monitor the motor (rotation, direction of rotation).
28
SEW encoder systems
Installation
3.6
3
Extended motor versions with encoder and mounting devices
3.6.1
Incremental encoders ES1_/ES2_/EV1_
The following dimension sheets show the extended motor versions that result from the mounting
of incremental encoders. These extended versions are shown with and without forced cooling fan.
Extended motor versions ES1_/ES2_ with and without forced cooling fan:
45°
X7
Pg7
Pg11
X8
2)
1)
g
α
Pg11
k, k0,kB
k, k0,kB
XES
XES + VR
02552AXX
α
Cable exit encoder cable
1)
Cable exit adjustable by increments of 90°
2)
Keep air intake clear
Pg11 Cable bushing for encoder cable
Pg7 Cable bushing for forced cooling fan cable
Fig. 37: Extended motor lengths with ES1_/ES2_
all dimensions in mm (in)
Extended motor versions ES1_/ES2_
Motor type
CT/CV/DT/DV
without forced
cooling fan
XES
with forced cooling
fan VR
XES + VR
g
X8
71* / 80
83 (3.27)
168 (6.61)
145 (5.71)
49 (1.93)
90* / 100
77 (3.03)
180 (7.09)
197 (7.76)
54 (2.13)
112M / 132S
76 (2.99)
143 (5.63)
221 (8.70)
54 (2.13)
α
X7
11°
92 (3.62)
* Foot mounted motors must be supported!
The total length of the motor will then be determined as follows:
without forced cooling fan
with forced cooling fan VR
Motor without brake
ktot = k, k0 + XES
ktot = k, k0 + XES + VR
Motor with brake
ktot = kB + XES
or
ktot = k0 + XB + XES
ktot = kB + XES + VR
or
ktot = k0 + XB + XES + VR
SEW encoder systems
29
3
Installation
Extended motor versions EV1_ with and without forced cooling fans VR, VS, V:
VR
VS, V
1)
g
g
1)
Pg11
k, k0
Pg11
XEV
k, k0
XEV
XEV + VR
XEV + VS, V
02553AXX
1)
Keep air intake clear
Pg11 Cable bushing for encoder cable
Fig. 38: Extended motor versions with EV1_
all dimensions in mm (in)
Extended motor versions EV1_
Motor type
CT/CV/DT/DV
without forced
cooling fan
XEV
with forced cooling with forced cooling
fan VR
fan VS
XEV + VR
XEV + VS
265 (10.43)
293 (11.54)
with forced
cooling fan V
XEV + V
g
-
150 (5.91)
-
201 (7.91)
71* / 80
193 (7.60)
90* / 100
196 (7.72)
307 (12.09)
332 (13.07)
112 / 132S
191 (7.52)
273 (10.75)
342 (13.46)
-
226 (8.90)
132M* / 160M
224 (8.82)
-
-
429 (16.89)
285 (11.22)
160L* / 180
265 (10.43)
-
-
405 (15.94)
342 (13.46)
200 / 225
265 (10.43)
-
-
415 (16.34)
394 (15.51)
* Foot mounted versions have to be supported!
The total length of the motor will then be calculated as follows:
30
without forced cooling fan
ktot = k, k0 + XEV
with forced cooling fan VR
ktot = k, k0 + XEV + VR
with forced cooling fan VS
ktot = k, k0 + XEV + VS
with forced cooling fan V
ktot = k, k0 + XEV + V
SEW encoder systems
Installation
3.6.2
3
Encoder mounting devices ES1A/ES2A/EV1A
The following dimension sheets show the extended motor versions that result from the installation
of encoder mounting devices. The extended lengths are shown with and without forced cooling fan.
Extended motor versions ES1A/ES2A with and without forced cooling fan:
k, k0, kB
XVR
l
8.5
(0.33)
25
(0.98)
g
d
∅ 4 (0.16)
X, XB
XS
16
(0.63)
XH
02554AXX
Fig. 39: Extended motor versions with ES1A/ES2A
all dimensions in mm (in)
Motor type
DT/DV
g
71 / 80
145 (5.71)
90 / 100
197 (7.76)
112 / 132S
221 (8.70)
l
25 (0.98)
dH7
8 (0.31)
10 (0.39)
X
XB
XH
XVR
XS
8.5 (0.33)
9.5 (0.37)
83 (3.27)
168 (6.61)
89 (3.50)
9 (0.35)
9.5 (0.37)
77 (3.03)
180 (7.09)
106 (4.17)
24 (0.94)
24.5 (0.96)
76 (2.99)
143 (5.63)
78 (3.07)
The total extended motor length is determined as follows:
without forced cooling fan
with forced cooling fan VR
Motor without brake
ktot = k, k0 + XH
ktot = k, k0 + XVR
Motor with brake
ktot = kB + XH
or
ktot = k + XB + XH
ktot = kB + XVR
or
ktot = k + XB + XVR
SEW encoder systems
31
3
Installation
Extended motor versions EV1A without forced cooling fan:
40 (1.57)
30
(1.18)
6 (0.24)
+0.05
-0.15
∅ 95
(3.74)
∅ 68
(2.68)
3 × 120°
∅6
∅ 10 (0.39)
∅ 50
(1.97)
G7
2.8 (0.11)
k, k0
XA
02555AXX
Fig. 40: Extended motor versions with EV1A without forced cooling fan
all dimensions in mm (in)
Motor type
DT/DV
XA
71 / 80
128 (5.04)
90 / 100
131 (5.16)
112 / 132S
126 (4.96)
132M / 160M
159 (6.26)
160L / 180
200 (7.87)
200 / 225
200 (7.87)
The total motor length will then be calculated as follows:
ltot = k, k0 + XA
32
SEW encoder systems
Installation
3
g
Extended motor versions with forced cooling fan VR and EV1A (→ Fig. 40, page 32):
XA
XS/VR
k, k0
XVR
02556AXX
Fig. 41: Extended motor versions with forced cooling fan VR and EV1A
all dimensions in mm (in)
Motor type
DT/DV
XA
XS/VR
XVR
g
71 / 80
128 (5.04)
94 (3.70)
290 (11.42)
150 (5.91)
90 / 100
131 (5.16)
105 (4.13)
307 (12.09)
201 (7.91)
112 / 132S
126 (4.96)
82 (3.23)
273 (10.75)
226 (8.90)
The total motor length will then be calculated as follows: ltot = k, k0 + XVR
g
Extended motor versions forced cooling fans VS, V with EV1A (→ Fig. 40, page 32):
XA
k, k0
XS / VS, V
XVS, V
02557AXX
Fig. 42: Extended motor versions with forced cooling fans VS, V and EV1A
all dimensions in mm (in)
Motor type
DT/DV
XA
XS / VS, V
XVS
XV
g
71 / 80
128 (5.04)
80 (3.15)
293 (11.54)
-
150 (5.91)
90 / 100
131 (5.16)
114 (4.49)
332 (13.07)
-
201 (7.91)
112 / 132S
126 (4.96)
121 (4.76)
337 (13.27)
-
226 (8.90)
132M / 160M
159 (6.26)
70 (2.76)
-
339 (13.35)
285 (11.22)
160L / 180
200 (7.87)
71 (2.80)
-
405 (15.94)
342 (13.46)
200 / 225
200 (7.87)
70 (2.76)
-
415 (16.34)
394 (15.51)
The total motor length will then be calculated as follows: ltot = k, k0 + XVS, V
SEW encoder systems
33
3
Installation
3.6.3
Absolute encoder AV1Y
The following dimension sheets show the extended motor versions resulting from the installation
of the AV1Y absolute encoder. The extended versions are shown with and without forced cooling
fan.
Extended motor versions AV1Y with and without forced cooling fans VR, VS, V on CT/CV/DT/DV
motors:
VR
VS / V
1)
g
g
1)
k, k0
1m
(3.3 ft)
XAV1Y
k, k0
1m
(3.3 ft)
XAV1Y
XAV1Y + VR
XAV1Y + VS, V
02559AXX
1)
Keep air intake clear
Fig. 43: Extended motor versions CT/CV/DT/DV with AV1Y
all dimensions in mm (in)
Extended motor versions AV1Y
Motor type
CT/CV/DT/DV
without forced
cooling fan
XAV1Y
with forced cooling with forced cooling
fan VR
fan VS
XAV1Y + VR
XAV1Y + VS
290 (11.42)
293 (11.54)
with forced
cooling fan V
XAV1Y + V
g
-
150 (5.91)
71* / 80
187 (7.36)
90* / 100
191 (7.52)
307 (12.09)
332 (13.07)
-
201 (7.91)
112 / 132S
185 (7.28)
273 (10.75)
337 (13.27)
-
226 (8.90)
132M* / 160M
218 (8.58)
-
-
339 (13.35)
285 (11.22)
160L* / 180
259 (10.20)
-
-
405 (15.94)
342 (13.46)
200 / 225
259 (10.20)
-
-
415 (16.34)
394 (15.51)
* Foot mounted motors must be supported!
The total motor length will then be calculated as follows:
34
without forced cooling fan
ktot = k, k0 + XAV1Y
with forced cooling fan VR
ktot = k, k0 + XAV1Y+VR
with forced cooling fan VS
ktot = k, k0 + XAV1Y+VS
with forced cooling fan V
ktot = k, k0 + XAV1Y+V
SEW encoder systems
Installation
3
Extended motor versions AV1Y at DS/DY motors:
without brake
with brake
k6
g5
k7
k0
1m
(3.3 ft)
k7
k5
k0
g3
g6
g3
g6
g4B
1)
1m
(3.3 ft)
k5
02560AXX
1) Brake connection
The dimension k0 depends on the motor version, please observe the respective dimension sheet.
Fig. 44: Extended motor versions DS/DY with AV1Y
all dimensions in mm (in)
Motor type
k5
k6
DS56
96 (3.78)
-
DY71
126 (4.96)
27 (1.06)
DY90
133 (5.24)
31 (1.22)
DY112
133 (5.24)
30 (1.18)
SEW encoder systems
k7
59 (2.32)
g3
g4B
g5
73 (2.87)
-
-
118 (4.65)
101 (3.98)
16 (0.63)
142 (5.59)
96 (3.78)
20 (0.79)
186 (7.32)
111 (4.37)
20 (0.79)
g6
58 (2.28)
35
3
Installation
3.6.4
Encoder mounting devices AV1A
The following dimension sheet shows the extended motor versions resulting from the installation
of encoder mounting devices.
Extended motor versions AV1A on DS/DY motors:
1)
α
∅b
∅d
χ
e
β
G7
M
s2
k6
02632AXX
1) Plugs with brake motors
Fig. 45: Extended motor versions DS/DY with AV1A
all measurements in mm (in)
Motor
type
b
d
e
DS56
DY71
DY90
DY112
36
50 (1.97)
6 (0.24)
68 (2.68)
k6
s2
α
β
χ
36 (1.42)
5 (0.20)
-15°
120°
-15°
30°
120°
20°
0°
3×120°
-
61 (2.40)
69 (2.72)
5.5
(0.22)
M
M4
SEW encoder systems
Installation
3.7
3
Pre-fabricated cables
SEW offers pre-fabricated cables for a convenient and secure connection of encoder systems to
asynchronous AC motors and synchronous servomotors. It is necessary to differentiate between
cables intended for fixed or trailing-cable installations. The cables are pre-fabricated in 40 inch
(1 m) steps to the required length.
MOVIDRIVE
MDV60A
ES1T, ES2T, EV1T
®
MOVIDRIVE
MDV60A
®
X1: MOVIDRIVE
DWI11A
X2: Encoder
2
1
DWI
ES1S, ES2S, EV1S,
ES1R, ES2R, EV1R
2+3
ES1C,
ES2C,
EV1C
02547AXX
Fig. 46: Pre-fabricated cable for encoder connection and incremental encoders
DPA11A
DIP11A
APA12
®
®
MOVIDRIVE
MOVIDYN
MDR60A
MAS/MKS51A
4 4
MOVIDRIVE
MDS60A
®
DIP11A
MOVIDRIVE
MDV60A
5
®
6
02548AXX
Fig. 47: Pre-fabricated cables for absolute encoders
SEW encoder systems
37
3
Installation
®
MOVIDYN
MAS/MKS51A
MOVIDRIVE
MDS60A
7 +8
®
9
02549AXX
Fig. 48: Pre-fabricated cable for resolvers
① Pre-fabricated cables for encoder connection
Part number
814 344 7
Installation
fixed installation
For encoder with
5V encoder supply
ES1T, ES2T, EV1T
via DWI11A (→ Fig. 28)
Line cross section
4×2×0.25 mm2 (AWG23) + 1×0.25 mm2 (AWG23)
Core colors
A: yellow (YE)
A: green (GN)
B: red (RD)
B: blue (BU)
C: pink (PK)
C: grey (GY)
UB: white (WH)
⊥: brown (BN)
sensor lead: violet (VT)
Manufacturer and type
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
MOVIDRIVE® MDV60A
For inverters
Connection
at the DWI11A
at the inverter
38
with 9-pin Sub D socket
with 9-pin Sub D plug
SEW encoder systems
Installation
3
② Pre-fabricated cables for incremental TTL and sin/cos encoders
Part number
198 829 8
198 828 X
Installation
fixed installation
trailing-cable installation
For encoders
ES1T, ES2T, EV1T via DWI11A and cable 814 344 7
ES1S, ES2S, EV1S, ES1R, ES2R, EV1R directly at the inverter
Line cross section
4×2×0.25 mm2 (AWG23) + 1×0.25 mm2 (AWG23)
Core colors
Manufacturer and type
A: yellow (YE)
A: green (GN)
B: red (RD)
B: blue (BU)
C: pink (PK)
C: grey (GY)
UB: white (WH)
⊥: brown (BN)
sensor lead: violet (VT)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
MOVIDRIVE® MDV60A
For inverters
Connection to
encoder / motor
Lapp, Unitronic LiYCY
Helukabel, Super-Paar-Tronic-C-PUR
with wire end sleeve
With ES1T, ES2T, EV1T connect the violet core (VT) at the encoder to UB.
With ES1S, ES2S, EV1S, ES1R, ES2R, EV1R
cut off the violet wire (VT) of the cable on the encoder side.
inverter / DWI11A
with 9-pin Sub D connector
③ Pre-fabricated cables for incremental HTL encoders
Part number
Installation
For encoders
Line cross section
198 932 4
198 931 6
fixed installation
trailing-cable installation
ES1C, ES2C, EV1C directly at inverter
5×0.25 mm2 (AWG23)
Core colors
Manufacturer and type
For inverters
Connection to
encoder / motor
inverter
SEW encoder systems
A: yellow (YE)
B: red (RD)
C: pink (PK)
UB: white (WH)
⊥: brown (BN)
Lapp, Unitronic LiYCY
Helukabel, Tronic-CY
Lapp, Unitronic FD CP
Helukabel, Super-Tronic-C-PURö
MOVIDRIVE® MDV60A
with core end sleeves
with 9-pin Sub D connector
39
3
Installation
④ Pre-fabricated cables for absolute encoder
Part number
Installation
198 887 5
198 888 3
fixed installation
trailing-cable installation
For encoder
AV1Y
3×2×0.25 mm2 (AWG23)
Line cross section
Core colors
Manufacturer and type
For inverters
Connection at
encoder / motor
inverter
T+: pink (PK)
T-: grey (GY)
D+: yellow (YE)
D-: green (GN)
GND: brown (BN)
US: white (WH)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
MOVIDYN® MAS/MKS51A with option APA12
MOVIDRIVE® MDS60A with option DPA11A
with 17-pin socket connector SPUC 17B FRAN
with core end sleeves
⑤ Pre-fabricated cables for absolute encoders
Part number
Installation
198 929 4
198 930 8
fixed installation
trailing-cable installation
For encoder
Line cross section
Core colors
Manufacturer and type
40
AV1Y
3×2×0.25 mm2 (AWG23)
T+: pink (PK)
T-: grey (GY)
D+: yellow (YE)
D-: green (GN)
GND: brown (BN)
US: white (WH)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
For inverters
MOVIDRIVE® MDS60A with option DIP11A
Connection to
encoder / motor
inverter
with 17-pin plug connector SPUC 17B FRAN
with 9-pin Sub D connector
SEW encoder systems
Installation
3
⑥ Pre-fabricated cables for absolute encoders with connection of sine signals
Part number
Installation
198 890 5
198 891 3
fixed installation
trailing-cable installation
For encoders
Line cross section
Core colors
Manufacturer and type
For inverters
Connection to
encoder / motor
inverter
SEW encoder systems
AV1Y
5×2×0.25 mm2 (AWG23)
T+: pink (PK)
T-: grey (GY)
D+: black (BK)
D-: violet (VT)
GND: brown (BN)
US: white (WH)
A: yellow (YE)
A: green (GN)
B: red (RD)
B: blue (BU)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
MOVIDRIVE® MDV60A with option DIP11A
with 17-pin socket plug SPUC 17B FRAN
with two 9-pin Sub D connectors
41
3
Installation
⑦ Pre-fabricated cables for resolvers in motor DS56
Part number
Installation
198 672 4
198 744 5
fixed installation
trailing-cable installation
For resolver in motor
DS56
4×2×0.25 mm2 (AWG23)
Line cross section
Core colors
Manufacturer and type
Ref.+: pink (PK)
Ref.-: grey (GY)
cos+: red (RD)
cos-: blue (BU)
sin+: yellow (YE)
sin-: green (GN)
TF/TH: white (WH)
TF/TH: brown (BN)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
MOVIDYN® MAS/MKS51A
For inverters
Connection to
resolver / motor
inverter
Part number
Installation
with resolver connector (Intercontec, type ASTA021NN00 10 000 5 000)
with core end sleeves
198 927 8
198 928 6
fixed installation
trailing-cable installation
For resolvers in motor
Line cross section
Core colors
Manufacturer and type
For inverters
Connection to
resolver / motor
inverter
42
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
DS56
4×2×0.25 mm2 (AWG23)
Ref.+: pink (PK)
Ref.-: grey (GY)
cos+: red (RD)
cos-: blue (BU)
sin+: yellow (YE)
sin-: green (GN)
TF/TH: white (WH)
TF/TH: brown (BN)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
MOVIDRIVE® MDS60A
with resolver connector (Intercontec, type ASTA021NN00 10 000 5 000)
with 9-pin Sub D connector
SEW encoder systems
Installation
3
⑧ Pre-fabricated cables for resolvers in motors DY71...112
Part number
Installation
198 632 5
198 743 7
fixed installation
trailing-cable installation
For resolvers in motor
DY71...112
4×2×0.25 mm2 (AWG23)
Line cross section
Core colors
Manufacturer and type
Ref.+: pink (PK)
Ref.-: grey (GY)
cos+: red (RD)
cos-: blue (BU)
sin+: yellow (YE)
sin-: green (GN)
TF/TH: white (WH)
TF/TH: brown (BN)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
MOVIDYN® MAS/MKS51A
For inverters
Connection to
resolver / motor
inverter
Part number
Installation
with resolver connector (Framatome Souriou, type GN-DMS2-12S)
with core end sleeves
198 827 1
198 812 3
fixed installation
trailing-cable installation
For resolver in motor
DY71...112
4×2×0.25 mm2 (AWG23)
Line cross section
Core colors
Manufacturer and type
Ref.+: pink (PK)
Ref.-: grey (GY)
cos+: red (RD)
cos-: blue (BU)
sin+: yellow (YE)
sin-: green (GN)
TF/TH: white (WH)
TF/TH: brown (BN)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
MOVIDRIVE® MDS60A
For inverter
Connection to
resolver / motor
inverter
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
with resolver connector (Framatome Souriou, type GN-DMS2-12S)
with 9-pin Sub D connector
⑨ Pre-fabricated cables for resolvers in motors DS56 and DY71...112
Part number
Installation
For resolver in motor
Line cross section
Core colors
Manufacturer and type
For inverter
Connection to
resolver / motor
inverter
SEW encoder systems
198 829 8
198 828 X
fixed installation
trailing-cable installation
DS56 and DY71...112
4×2×0.25 mm2 (AWG23) + 1×0.25 mm2 (AWG23)
Ref.+: pink (PK)
Ref.-: grey (GY)
cos+: red (RD)
cos-: blue (BU)
sin+: yellow (YE)
sin-: green (GN)
TF/TH: white (WH)
TF/TH: brown (BN)
Lapp, Unitronic Li2YCY (TP)
Helukabel, Paar-Tronic-CY
Lapp, Unitronic FD CP (TP)
Helukabel, Super-Paar-Tronic-C-PUR
MOVIDRIVE® MDS60A
with core end sleeves, cut off the violet wire (VT) of the cable in the terminal box
with 9-pin Sub D connector
43
We are available, wherever you need us.
Worldwide.
SEW-EURODRIVE right around the globe is
your competent partner in matters of power
transmission with manufacturing and assembly plants in most major industrial countries.
SEW-EURODRIVE GmbH & Co · P.O.Box 30 23 · D-76642 Bruchsal/Germany
Tel. +49-7251-75-0 · Fax +49-7251-75-19 70 · Telex 7 822 391
http://www.SEW-EURODRIVE.com · sew@ sew-eurodrive.com