CANopen/CANopenift The Sendix multiturn encoders 868 and 888 with CANopen or CANopenift interface and optical sensor technology are the right encoders for all CANopen or CANopenift applications. With a maximum resolution of 8 bits these encoders offer an optional additional RS incremental track with 08 pulses. / RoHS Mechanical drive Reliable Safety-ock TM High rotational speed -0... +80 C Temperature range IP High protection level Tried-and-tested in applications with the highest demands, such as in mobile automation or medical technology Ideal for use outdoors thanks to IP67 protection and wide temperature range from -0 C up to +80 C High shaft load capacity Flexible Shock / vibration resistant Magnetic field proof Reverse polarity protection Optical sensor Seawater-resistant version on request Node address can be set via rotary switches or software Baud rate and termination can be set via IP switches or software With bus terminal cover or fixed connection, as well as M connectors or cable connection Universal Scaling Function Order code Shaft version 8.868 Type. X X X X. XX X a b c d e f If for each parameter of an encoder the underlined preferred option is selected, then the delivery time will be 0 working days for a maximum of 0 pieces. Qts. up to 0 pcs. of these types generally have a delivery time of working days. a Flange = clamping flange, IP6 ø 8 mm [.8 ] = clamping flange, IP67 ø 8 mm [.8 ] = synchro flange, IP6 ø 8 mm [.8 ] = synchro flange, IP67 ø 8 mm [.8 ] = square flange, IP6 6. mm [. ] 7 = square flange, IP67 6. mm [. ] b Shaft (ø x ), with flat = 6 x 0 mm [0. x 0.9 ] ) = 0 x 0 mm [0.9 x 0.79 ] ) = / x 7/8 = /8 x 7/8 c Interface / Power supply = CANopen S0 V.0, 0... 0 V C = CANopen S0 V.0, 0... 0 V C mit 08 ppr incremental track (TT-compatible) ) d Type of connection removable bus terminal cover = cable gland radial = x M connector Fixed connection without bus terminal cover A = cable, radial, length m [6.6 ] PVC E = x M connector, -pin, radial F = x M connector, -pin, radial I = x M connector, -pin, radial J = x M connector, -pin, radial K = x -Sub connector, 9-pin e Fieldbus profile ) = CANopen Encoder-Profile S06 V. = CANlift S7 V.0 f Options (Service) = no options = SET button optional on request - Ex / - seawater-resistant - special cable length ) Preferred type only in conjunction with flange type ) Preferred type only in conjunction with flange type ) Only in conjunction with connection type ) CAN parameters can also be factory pre-set Fritz Kübler GmbH, subject to errors and changes. 0/0 6
CANopen/CANopenift Order code Hollow shaft 8.888 Type. X X X X. XX X a b c d e f If for each parameter of an encoder the underlined preferred option is selected, then the delivery time will be 0 working days for a maximum of 0 pieces. Qts. up to 0 pcs. of these types generally have a delivery time of working days. a Flange with torque stop = with spring element long, IP6 = with spring element long, IP67 = with stator coupling, IP6 ø 6 mm [.6 ] = with stator coupling, IP67 ø 6 mm [.6 ] = with stator coupling, IP6 ø 6 mm [.8 ] 6 = with stator coupling, IP67 ø 6 mm [.8 ] b Blind hollow shaft = ø 0 mm [0.9 ] = ø mm [0.7 ] = ø mm [0. ] 6 = ø mm [0.9 ] 8 = ø /8 9 = ø / c Interface / Power supply = CANopen S0 V.0, 0... 0 V C = CANopen S0 V.0, 0... 0 V C mit 08 ppr incremental track (TT-compatible) ) d Type of connection removable bus terminal cover = cable gland radial = x M connector Fixed connection without bus terminal cover A = cable, radial, length m [6.6 ] PVC E = x M connector, -pin, radial F = x M connector, -pin, radial I = x M connector, -pin, radial J = x M connector, -pin, radial K = x -Sub connector, 9-pin e Fieldbus profile ) = CANopen Encoder-Profile S06 V. = CANlift S7 V.0 f Options (Service) = no options = SET button optional on request - Ex / - seawater-resistant - special cable length Mounting accessory for shaft encoders Order No. Coupling Bellows coupling ø 9 mm [0.7 ] for shaft 6 mm [0. ] 8.0000.0.0606 Bellows coupling ø 9 mm [0.7 ] for shaft 0 mm [0.9 ] 8.0000.0.00 Mounting accessory for hollow shaft encoders 8 0, Cylindrical pin, long 0, With fixing thread 8.000.700.0000 SW7 [0,8] for torque stops 0,6 0,6 m8 M 0,8 R 7 0,8 Connection technology Connector, self-assembly (straight) Coupling M for 8.0000.6.0000 Connector M for 8.0000..0000 Cordset, pre-assembled M, for, 6 m [9.68 ] PVC cable 0.00.609.A.006M M, for, 6 m [9.68 ] PVC cable 0.00.609.A.006M Programming set Including: Minimum system requirements: 8.000.9000.00 - Interface converter USB-CAN Operating system: WinXP SP or higher - Connection cable from interface converter to encoder Processor: GHz - Power supply 90... 0 V AC RAM: MB - V with Ezturn software Required disk space: 00 MB Further accessories can be found in the accessories section or in the accessories area of our website at: /accessories Additional connectors can be found in the connection technology section or in the connection technology area of our website at: /connection_technology ) Only in conjunction with connection type ) CAN parameters can also be factory pre-set 6 Fritz Kübler GmbH, subject to errors and changes. 0/0
CANopen/CANopenift Technical data Mechanical characteristics Max. speed IP6 up to 70 C [8 F] 9 000 min -, 7 000 min - (continuous) IP6 up to Tmax 7 000 min -, 000 min - (continuous) IP67 up to 70 C [8 F] 8 000 min -, 6 000 min - (continuous) IP67 up to Tmax 6 000 min -, 000 min - (continuous) Starting torque - at 0 C [68 F] IP6 < 0.0 Nm IP67 < 0.0 Nm Moment of inertia Shaft version.0 x 0-6 kgm Hollow shaft version 7. x 0-6 kgm oad capacity of shaft radial 80 N axial 0 N Weight with bus terminal cover approx. 0.7 kg [0. oz] with fixed connection approx. 0. kg [8. oz] Protection acc. to EN 609 housing side IP67 shaft side IP6, opt. IP67 EX approval for hazardous areas optional Zone and Working temperature range -0 C... +80 C ) [-0 F... +76 F] ) Material shaft/hollow shaft stainless steel flange aluminium housing zinc die-cast housing cable PVC Shock resistance acc. EN 60068--7 00 m/s, 6 ms Vibration resistance acc. EN 60068--6 00 m/s,... 000 Hz Electrical characteristics Power supply 0... 0 V C Power consumption (no load) max. 00 ma Reverse polarity protection yes of the power supply (+V) U approval File 68 CE compliant acc. to EMC guideline 00/08/EC RoHS compliant acc. to guideline 0/6/EU Interface characteristics CANopen/CANopenift Singleturn resolution... 66 (6 bit), scaleable efault value 89 ( bit) resolution max. 096 ( bit) scalable only via the total resolution Total resolution Code Incremental track characteristics Output driver RS (TT-compatible) Permissible load / channel max. 0 ma Signal level HIGH typ..8 V OW typ.. V Short circuit proof outputs yes ) Resolution 08 ppr SET button (zero or defined value, option) Protection against accidental activation. Button can only be operated with a ball-pen or pencil.... 68 6 (8 bit) efault: bit Binary Interface CAN High-Speed acc. to ISO 898, Basic- and Full-CAN CAN Specification.0 B Protocol CANopen Profile S06 V. with manufacturer-specific add-ons or CANlift Profile S7 V. Baud rate Node address Termination switchable 0... 000 kbit/s (can be set via IP switches / software configurable)... 7 (can be set via rotary switches / software configurable) can be set via IP switches, software configurable iagnostic E (yellow) E is ON with the following fault conditions Sensor error (internal code or E error) too low voltage, over-temperature ) Cable version: -0 C... +7 C [- F... +67 F] ) Short circuit to 0 V or to output, only one channel at a time, power supply correctly applied Fritz Kübler GmbH, subject to errors and changes. 0/0 6
CANopen/CANopenift General information about CANopen / CANopenift The CANopen encoders support the latest CANopen communication profile according to S0 V.0. In addition, device specific profiles such as encoder profile S06 V. and S7 V. (for lift applications) are available The following operating modes may be selected: Polled Mode, Cyclic Mode, Sync Mode. Moreover, scale factors, preset values, limit switch values and many other additional parameters can be programmed via the CAN bus. When switching the device on, all parameters are loaded from an EEPROM, where they were saved previously to protect them against power-failure. The following output values may be combined in a freely variable way as PO (PO mapping): position, speed, acceleration as well as the status of the working area. As competitively priced alternatives, encoders are also available with a connector or a cable connection, where the device address and baud rate can be changed and configured by means of the software. The models with bus terminal cover and integrated T-coupler allow for extremely simple installation: the bus and power supply can be easily connected via M connectors. The device address can be set via rotary hex switches. Furthermore, another IP switch allows for the setting of the baud rate and switching on a termination resistor. Three Es located on the back indicate the operating or fault status of the CAN bus, as well as the status of an internal diagnostic. Universal Scaling Function At the end of the physical resolution of an encoder, when scaling is active, an error appears if the division of the physical limit (GP_U) by the programmed total resolution (TMR) does not produce an integer. The Universal Scaling Function remedies this problem. CANopen Communication Profile S0 V.0 Among others, the following functionality is integrated. Class C functionality NMT Slave Heartbeat Protocol High Resolution Sync Protocol Identity Object Error Behaviour Object Variable PO Mapping Self-start programmable (Power on to operational) Sending PO s Node address, baud rate and CANbus Programmable termination CANopen Encoder Profile S06 V. The following parameters can be programmed: Event mode Units for speed selectable (steps/sec or RPM) Factor for speed calculation (e.g. circumference of measuring wheel) Integration time for the speed value from... working areas with upper and lower limits and the corresponding output states Variable PO mapping for position, speed, work area status Extended failure management for position sensing with integrated temperature control User interface with visual display of bus and failure status - E s Optional - CAMs programmable Customer-specific memory - 6 Bytes CANopen ift Profile S7 V. Among others, the following functionality is integrated: Car Position Unit virtual devices virtual device delivers the posititon in absolute measuring steps (steps) virtual device delivers the posititon as an absolute travel information in mm ift number programmable Independent setting of the node address in relation with the CAN identifier Factor for speed calculation (e.g. measuring wheel periphery) Integration time for speed value of... work areas with upper and lower limits and the corresponding output states Variable PO mapping for position, speed, acceleration, work area status Extended failure management for position sensing with integrated temperature control User interface with visual display of bus and failure status - E s Watchdog controlled device All profiles stated here: Key-features The object 600h Preset is assigned to an integrated key, accessible from the outside. 66 Fritz Kübler GmbH, subject to errors and changes. 0/0
Terminal assignment CANopen/CANopenift Interface Type of connection Cable gland (Bus terminal cover with terminal box) Bus OUT, Signal: CAN_GN CAN_ CAN_H 0 V +V 0 V +V CAN_ CAN_H CAN_GN Abbreviation: CG C CH 0 V +V 0 V +V C CH CG Interface Type of connection Cable (isolate unused wires individually before initial start-up), A Signal: 0 V +V CAN_ CAN_H CAN_GN Cable colour: WH BN YE GN GY Interface Type of connection x M connector ( x M connector with interface ) Bus OUT Signal: 0 V +V CAN_ CAN_H) CAN_GN,, F Pin: Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: Incremental track Signal: A B 0 V Pin: Interface Type of connection x M connector, E Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: Interface Type of connection x M connector Bus OUT Signal: 0 V +V CAN_ CAN_H CAN_GN, J Pin: 0 7 Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: 0 7 x 9 8 7 0 6 Interface Type of connection x M connector, I Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: 0 7 9 8 7 0 6 Interface Type of connection -Sub connector, K Signal: 0 V +V CAN_ CAN_H CAN_GN Pin: 6 9 7 6 7 8 9 Fritz Kübler GmbH, subject to errors and changes. 0/0 67
CANopen/CANopenift imensions shaft version, with removable bus terminal cover imensions in mm [inch] Clamping flange, ø 8 [.8] Flange type and (rawing with x M connector) 0 [.97] x M, 6 [0.] deep x M, 8 [0.] deep 8 [.8] [.] 6 [.] 0 [.7] 60 [.6] 8 [.89] 0 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 0 [0.9], [0.7] [0.] 0 [.8] [0.] 76 [.0] 77, [.0] x0 Synchro flange, ø 8 [.8] Flange type and (rawing with cable) M, 6 [0.] deep, [0,7], [0,7], [.0], [.0] 0 [,97] 8 [,8] 0 [,97] 8 [,8] 0 [,7] 60 [,6] 0 [,7] 60 [,6] Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 86 [,9] 87, [,] 9 [0.7] [0,] [0,] [0,6] 86 [,9] 87, [,] 9 [0.7] [,6] x 0 [,6] x 0 Square flange, 6. [.] Flange type and 7 (rawing with cable) 7 [,],7 h7 [,] 0 [,7] 60 [,6] Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 7, [0,8] 7, [0,] 0 [,8] 78, [,] 79, [,], [0,7], [0,], [,06] 6, [,] 68 Fritz Kübler GmbH, subject to errors and changes. 0/0
CANopen/CANopenift imensions shaft version, with fixed connection imensions in mm [inch] Synchro flange, ø 8 [.8] Flange type and (rawing with M connector) 60,6,9 M, 6 [0.] deep 8 [,8] 0 [,97] Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 69,,7 70,7,78, 0, [,6] x 0 Synchro flange, ø 8 [.8] Flange type and (rawing with -Sub connector) M, 6 [0.] deep x /0 UNC;.0 [0.] deep, 0,6,7,6 8 [,8] 0 [,97] 0,98 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 69,,7 70,7,78 [,6] x 0 Square flange, 6. [.] Flange type and 7 (rawing with x M connector), 0, 60,6,9,7,, 8, 0, Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 7, 0,8 7, 0, 6, 6,,9,,06 6,, Fritz Kübler GmbH, subject to errors and changes. 0/0 69
imensions shaft version, with fixed connection imensions in mm [inch] CANopen/CANopenift Clamping flange, ø 8 [.8] Flange type and (rawing with x M connector) 7, [.] x M, 6 [0.] deep x M, 8 [0.] deep 8 [.8] [.] 6 [.] 8 [.89] 0 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 0 [0.9] [0.] [0.] 9, [.] 70, [.78], [0.] x 0 Synchro flange, ø 8 [.8] Flange type and (rawing with M connector) M, 8 [0.] deep 8,, 8 [,8] 0 [,97], 8 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 [0,] [0,] [0,6] 69,,7 70,7,78, 0, [,6] x 0 Clamping flange, ø 8 [.8] Flange type and (rawing cable) x M, 6 [0.] deep 9,7 [,] 0 x M, 8 [0.] deep 8 [.8] [.] 6 [.] 8 [,89] 0 [0.9] [0.] [0.] 9, [.] 60,7 [.8], [0,] x 0 Fit 6 [0.] 0 [0.9] h7 0 [0.9] 0 [0.79] f7 / 7/8 h7 /8 7/8 h7 70 Fritz Kübler GmbH, subject to errors and changes. 0/0
60,6 6,8 max., CANopen/CANopenift imensions hollow shaft version (blind hollow shaft), with removable bus terminal cover imensions in mm [inch] Flange with spring element long Flange type and (drawing with x M connector), [0.09] 9,,9 [0.],99-0,0 [0.6] Torque stop slot, Recommendation: Cylindrical pin IN 7, ø [0.6] M,. [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] max. [.] [0.6] 8, [.] 9, [.6], [0.7] 9 [0.7] 0 [.8] 60 [.6] H7 x0 [.6] 6,7 [.] 0,9 [.6] Flange with stator coupling, ø 6 [.8] Flange type and 6 Pitch circle diameter for fixing screws 6 [.8] (rawing with cable) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8], 0,7 7, 0,7 68,68 H7 0,8 0,0 0,6 8, 9,6 9 0,7, 0, 0 0,79 Flange with stator coupling, ø 6 [.6] Flange type and Pitch circle diameter for fixing screws 6 [.6] (rawing with x M connector) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] max. [.], 0,7 0,7 60 [.6] H7 x0 9, [.9], [0.7], [0.09] 9, [.7] 9, [.76] 9 0,7 6 [.6] Fritz Kübler GmbH, subject to errors and changes. 0/0 7
CANopen/CANopenift imensions hollow shaft version (blind hollow shaft), with fixed connection imensions in mm [inch] Flange with spring element long Flange type and (drawing with M connector), [0.09] 60,6,9 [0.],99-0,0 [0.6] Torque stop slot, Recommendation: Cylindrical pin IN 7, ø [0.6] M,. [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] 8,8 max. [.] [0.6] 66,,6 7,,88 7,,9 H7 x0 [.6] 6,7 [.] 0,9 [.6] Flange with spring element long Flange type and (drawing with -Sub connector) Torque stop slot, Recommendation: Cylindrical pin IN 7, ø [0.6] M,. [0.] deep x /0 UNC;.0 [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8],8 8 max. [.], 0,6 [0.6] 66,,6 0,98 H7 x0, [0.09],7,6 [0.],99-0,0 [0.6] [.6] 6,7 [.] 0,9 [.6] 7,,88 7,,9 Flange with stator coupling, ø 6 [.6] Flange type and Pitch circle diameter for fixing screws 6 [.6] (drawing with x M connector) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8], 0, 8, H7 0, 0,7 6,6,8 7, 0, 77,7,06 78,9, 60,6,9 7 Fritz Kübler GmbH, subject to errors and changes. 0/0
CANopen/CANopenift imensions hollow shaft version (blind hollow shaft), with fixed connection imensions in mm [inch] Flange with stator coupling, ø 6 [.8] Flange type and 6 Pitch circle diameter for fixing screws 6 [.8] (drawing with M connector) Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8], 0, 68,68 6,8 H7, max. 8,8 0,8 0,0 0,6 66,,6 7,,9, 0, 0 0,79 7,67,98 Flange with spring element long Flange type and (drawing with x M connector) Torque stop slot, Recommendation: Cylindrical pin IN 7, ø [0.6], 0,, [0.09] 8,, [0.],99-0,0 [0.6] M,. [0.] deep Recommended torque for the : Insertion depth for blind hollow shaft: 0 [.8] 8,8 max. [.] 8, H7 x0 6,7 [.] 0,9 [.6] [0.6] 66,,6 7,,88 7,,9 [.6] Flange with stator coupling, ø 6 [.6] Flange type and Pitch circle diameter for fixing screws 6 [.6] (rawing with cable) Recommended torque for the, 0, 0 9,,, 0,7 : Insertion depth for blind hollow shaft: 0 [.8] 8,8 H7, 0, 77,7,06 78,9, 6,6 7,8 Fritz Kübler GmbH, subject to errors and changes. 0/0 7