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encoders
fo r CNC Machines and High Accuracy Applica t i o ns
Linear, angular and rotary
encoders
Over 30 years of continuous evolution
Fagor Automation has been manufacturing high quality linear and rotary encoders
using precision optical technology for more than 30 years.
Over the years Fagor has created, developed and patented systems, components
and technologies that allow us to offer best quality and features over the complete
range of product utilizing innovative production methods.
Hence making Fagor Automation the most efficient alternative in the world of
feedback systems.
advanced technology and testing and manufacturing facilities. From centralized computer
control temperature monitoring, cleanliness and relative humidity control, a must for the
feedback system manufacturing process, to laboratories for climate, vibration and EMC
This investment has resulted in large number of patents and customized solutions in
of-the-art product.
Optical design
Leader in measurement technologies, Fagor Automation uses
Linear Projected light transmissive and reflective optics in its range of encoders.
LED Analyzer encoder Photodiodes
With new scanning techniques such as single field and three-
interpolation errors.
Electronic design
Fagor Automation uses latest generation integrated electronic
Mechanical design
Fagor Automation designs and manufactures the most
applications.
Thermal
performance
Thermal Determined Mounting System (TDMS)
performance.
Quality
Accuracy certificate
Every single Fagor encoder is subjected to an extensive final
Linear
LA series ...................................................................................................................... 16
GA series ..................................................................................................................... 18
SA series ....................................................................................................................... 20
SVA series ............................................................................................................... 22
INCREMENTAL
Technology ...................................................................................................................... 32
Signals ..................................................................................................................................... 34
Range . ...................................................................................................................................... 36
Linear
L series .............................................................................................................................. 38
G series ............................................................................................................................ 40
S series ............................................................................................................................. 42
SV series . ..................................................................................................................... 44
Accessories ....................................................................................................................... 56
A B S O L U T E
Technology
The absolute measurement system is a Enclosed design
direct digital measure of machine position. The robust aluminum profile encasing the graduated glass
It is fast, accurate and does not require provides the primary protection. The sealing lips provides
homing of the machine. The position value protection against contaminants and liquids as the reader
is available from the moment the machine head travels along the profile. The reader head movement
along the graduated glass provides a perfectly balanced
is turned on and may be requested by the
system accurately capturing the machine movement. The
connected device (CNC) at any time. reader heard travels on precision bearing with minimum
The absolute encoders provide direct measure of machine contact with the profile hence minimizing the friction.
position without using any intermediate device. The The optional air inlet at both ends of the encoder and at the
positioning errors originating from machine mechanics are reader head provides increased protection levels against
minimized as the encoder is directly mounted to the machine contaminants and liquids.
surface and the guide ways. The encoder sends the real
machine movement data to the CNC and mechanical errors
caused due to thermal behavior of the machine, pitch error
compensation and backlash etc. are minimized.
reticule
Both measuring methods have two different etchings: CNC /PC / Drive
controller
Incremental graduation: Used to generate square
receiving incremental
incremental signals for systems that use digital position glass encoder photo-diodes analog output
input and are counted internally by the reader head.
Alternatively 1 Vpp analog signal is also produced based on
the system requirement.
Absolute graduation: It is a unique binary code which is
Graduated steel encoder
imprinted along the measuring length of encoder.
Fagor encoders calculate the absolute position by reading the
absolute sensor
unique binary code using a high precision optical sensor.
absolute LED
incremental LED
incremental sensor
absolute
digital output
reader head
steel encoder
CNC /PC / Drive
incremental controller
graduation
10
Graduated glass /steel tape
Cursor
Aluminum profile
Sealing lips
Reader head
absolute graduation incremental graduation This measuring method has two different graduations: An
incremental one and an absolute one, like linear encoders
as described in the previous page.
11
A B S O L U T E
Clock frequency
V1 Vpp
A
t1 T t2
1 2 3 n-1 n V2
T=360
Vpp
B
MSB LSB
FAGOR systems
These systems synchronize the SSI interface with the
sinusoidal 1 Vpp signals. Once the absolute position has
been obtained through the SSI interface, the encoders keep
operating with incremental 1 Vpp signals.
12
SIEMENS systems
These systems synchronize the SSI interface with sinusoidal
1 Vpp signals. Once the absolute position has been obtained
through the SSI interface, the encoders keep operating with
incremental 1 Vpp signals. These encoders are only valid to
connect to SME 25 or SMC 20 modules of the Solution Line
family.
FANUC systems
These systems only use digital signals. The absolute encoder
is connected through the SDU ( separate detector unit )
device and is valid for communication protocol versions
FANUC 01 and 02 serial interface.
MITSUBISHI systems
These systems only use digital signals. The absolute encoder
is connected through the MDS Series drive and is valid for
communication protocol versions MITSUBISHI High-speed
serial interface.
PANASONIC systems
These systems only use digital signals. The absolute encoder
is connected through the MINAS series drive.
As an example, here is the photo and characteristics of the
Panasonic MINAS A5L drive.
13
A B S O L U T E
Range
Analyze the application to make sure that
the proper encoder will be selected for the
machine.
To do this, bear in mind the following considerations
n Linear
Installation
Consider the physical length of the installation and the space
available for it.
These aspects are crucial to determine the type of linear
encoder to use (type of profile).
Accuracy
Each linear encoder comes with a graph showing its Linear
accuracy along its measuring length.
Series Section Measuring lengths
Signal
The signal selection considers the communication protocols
compatible with the main CNC manufacturers. LA 440 mm to 30 m
Resolution Long
Compatibility SA 70 mm to 1 240 mm
The signal must be compatible with the control system. Reduced
Speed SVA
The speed requirements for the application must be analyzed 70 mm to 2 040 mm
before choosing the linear encoder. Reduced
n Angular
HA-D200 Hollow shaft
Installation
This point considers the physical dimensions of the
installation and the space available for it.
It is essential to determine its type of shaft: Hollow or solid. HA-D90 Hollow shaft
Accuracy
Each encoder comes with a graph showing its accuracy
along its measuring length. SA-D170 Solid shaft
n Rotary
Installation SA-D90 Solid shaft
This point considers the physical dimensions of the
installation and the space available for it.
It is essential to determine its type of shaft: Hollow or solid.
Rotary
Series Section Type of shaft
14
Pitch
Accuracy Signals Resolution up to Model Page
LA
SSI +1 Vpp FAGOR /SIEMENS*
5 m 0.1 m 16 and 17
FANUC /MITSUBISHI /PANASONIC LAF / LAM / LAS / LAP
0.1 m GA
5 m and SSI +1 Vpp FAGOR /SIEMENS*
18 and 19
3 m FANUC /MITSUBISHI /PANASONIC 0.05 m GAF / GAM / GAS / GAP
0.1 m SA
5 m and SSI +1 Vpp FAGOR /SIEMENS*
20 and 21
3 m FANUC /MITSUBISHI /PANASONIC 0.05 m SAF / SAM / SAS / SAP
0.1 m SVA
5 m and SSI +1 Vpp FAGOR /SIEMENS*
SVAF / SVAM / SVAS / 22 and 23
3 m FANUC /MITSUBISHI /PANASONIC
0.05 m SVAP
HA-D200
SSI +1 Vpp FAGOR / SIEMENS*
2 and 1 HAF-D200 / HAM-D200 / 24
FANUC / MITSUBISHI / PANASONIC
HAP-D200
HA-D90
SSI +1 Vpp FAGOR / SIEMENS*
5 and 2.5 HAF-D90 / HAM-D90 / 25
FANUC / MITSUBISHI / PANASONIC
HAP-D90
SA-D170
SSI +1 Vpp FAGOR / SIEMENS*
2 SAF-D170 / SAM-D170 / 26
FANUC / MITSUBISHI/ PANASONIC
SAP-D170
SA-D90
SSI +1 Vpp FAGOR / SIEMENS*
5 and 2.5 SAF-D90 / SAM-D90 / 27
FANUC / MITSUBISHI / PANASONIC
SAP-D90
Pitch
Accuracy Signals Resolution up to Model
25 bits multi-turn
1/10 of the pitch SSI +1 Vpp HAX-12342-2048 28
2 048 pulses
LA series
LINEAR
Specific characteristics
LA LAS LAF LAM LAP
16
Single module Dimensions in mm
CM + 301
30,5 CM + 240 30,5
7 76
4,75
0,05
0,1G
25
4,75
78,5 33 n x 200 0,15 45 37 86,5
200 0,15 200 0,15 A 0,3 G
linear
2,5 1,5
62 1,5
+2,5
+2,5
85 -0,5
79 -0,5
9,5
25 40
10 0,15
51,5 25 90 0,3 A 25
CM
CM Measuring length
G Machine way
Absolute P=40
P Absolute position
Multiple modules
CM + 301
30,5 CM + 240 30,5
1411,5 m x 1400 L
7 76 1268,5-1468,5-1668,5-1868,5
4,75
2068,5-2268,5-2468,5
0,05
0,1 G
25
4,75
+2,5
85 -0,5
79 -0,5
9,5
25 40
10 1,5
51,5 25 90 0,3 A 25
CM
CM Measuring length
Absolute P=40 G Machine way
P Absolute position
Order identification
Example of Linear Encoder: LAF - 102 - A
L A F 102 A
Type of profile Letter identifying Type of communications protocol: Ordering length Air intake on the reader
for long space the absolute code: head:
Blank space: SSI protocol (FAGOR)
encoder
S: SIEMENS (SL) protocol In the example B
lank space: Without
F: FANUC (01 and 02) protocol (102) = 10 240 mm air intake
M: MITSUBISHI CNC protocol (high speed serial interface) A
: With air intake
P: PANASONIC (Matsushita) protocol
17
A B S O L U T E
GA series
LINEAR
Specific characteristics
GA GAS GAF GAM GAP
18
Single module Dimensions in mm
0,1 G
0,03
0,1 G
35
25
2
5
M5
7 76
linear
CM+121
CM+100
10,5 24,5 Nx100
0,2 G
100 100
CM/2+65
0,1
1,5 0,3
85
85
25
100,3
35 8,5 25 40
37 90
CM Measuring length
14,5
G Machine way
Absolute P=20
P Absolute position
Order identification
Example of Linear Encoder: GAM- 1640-5-A
G A M 1640 5 A
Type of profile Letter Type of communications protocol: Measuring lengths Accuracy of the Air intake on the reader
for wide identifying in millimeters linear encoder: head:
Blank space: SSI protocol (FAGOR)
space the absolute
S: SIEMENS (SL) protocol In the example 5: 5 m Blank space: Without
encoder
F: FANUC (01 and 02) protocol (1640) = 1 640 mm 3: 3 m air intake
M: MITSUBISHI CNC protocol (high A: With air intake
speed serial interface)
P: PANASONIC (Matsushita) protocol
19
A B S O L U T E
SA series
LINEAR
Model description:
Thermal expansion SA: Absolute linear encoders with SSI protocol for FAGOR
coefficient of glass therm = 8 ppm/K
and others.
Accuracy
5 m SAS: Absolute linear encoders for SIEMENS (Solution
3 m Line).
Maximum speed 120 m/min. SAF: Absolute linear encoders with FANUC (01 and 02)
Maximum vibration 10 g without mounting plate
protocol.
SAM: Absolute linear encoders with MITSUBISHI CNC
Required moving (high speed serial interface) protocol.
<4N
force
SAP: Absolute linear encoders with PANASONIC
Operating
temperature
0 C...50 C (Matsushita) protocol.
Relative humidity 20...80% 70 120 170 220 270 320 370 420 470 520
570 620 720 770 820 920 1020 1140 1240
Protection IP 53 (standard)
IP 64 (DIN 40050) using pressurized air at
0.8 0.2 bar in linear encoders
Reader head With built-in connector
Specific characteristics
SA SAS SAF SAM SAP
20
Single module Dimensions in mm
0,1 G
0,03
12
3
3 74
2xM4
CM+140
CM+136
10,5 CM+115
linear
20 20
0,1 G
4 0,5
18 4,5
CM > 620
12 28,7 0,5 13,5
1 0,5
4
61,7
54,2
54,2
0,1
10
18 15,5 2
13 56 CM Measuring length
93
G Machine way
Order identification
Example of Linear Encoder: SAF - 420 - 5 - A
S A F 420 5 A
Type of profile for Letter Type of communications protocol: Measuring lengths Accuracy of the Air intake on the
reduced space: identifying in millimeters linear encoder: reader head:
Blank space: SSI protocol (FAGOR)
S: Standard the absolute 5: 5 m
S: SIEMENS (SL) protocol In the example Blank space: Without
mounting for encoder 3: 3 m
F: FANUC (01 and 02) protocol (420) = 420 mm air intake
vibrations of up to M: MITSUBISHI CNC protocol (high A: With air intake
10 g.
speed serial interface)
P: PANASONIC (Matsushita)
protocol
21
A B S O L U T E
SVA series
LINEAR
Specific characteristics
SVA SVAS SVAF SVAM SVAP
22
Single module Dimensions in mm
28
5,8
38,2
16
16
linear
CM+105
0,1 G
0,03
3
12
3 74 2xM4 L B1 B2 B3 B4
70 - 520
570 - 920 200
1020 - 1340 200 400
1440 - 1740 200 400 600
1840 - 2040 200 400 600 800
30 30
0,1 G
4
48,2 0,5
10,5
60,2
0,1
60,2
10
12
21
CM Measuring length
13 56
10
93 G Machine way
18
P Absolute position
Absolute P=20
Order identification
Example of Linear Encoder: SVAF - 420 - 5 - B - A
SV A F 420 5 B A
Type of profile Letter Type of communications Measuring Accuracy Linear encoder with Air intake on
for reduced spaces: identifying protocol: lengths in of the linear mounting support: the reader
SV: Vibration the absolute millimeters encoder: B: With mounting head:
Blank space: SSI protocol (FAGOR)
encoder
mounting for up S. SIEMENS (SL) protocol In the example 5: 5 m support for Blank space:
to 20 g. F: FANUC (01 and 02) protocol (420) = 420 3: 3 m vibrations of up to Without air
M: MITSUBISHI CNC protocol mm 20 g intake
(high speed serial interface) A: With air
P: PANASONIC (Matsushita) intake
protocol
23
A B S O L U T E
HA-D200 series
ANGULAR
Dimensions in mm
5.75 - 4x90
0,25 B
14,
5
79
25
M4 - 4x90
0,3 C
General characteristics
40
Measurement By means of graduated glass disk
Accuracy 2 and 1 3,5 36,5
23 bits (8 388 608 positions)
Number of pulses/turn
27 bits (134 217 728 positions) 17
1 Vpp (32 768 pulses/ turn)
5
Vibration 100 m/s2 (55 2000 Hz)
IEC 60068-2-6
Natural frequency 1000 Hz
Shock 1 000 m/s2 (6 ms) 10,5
IEC 60068-2-27
Inertia 10 000 gr. cm 2
Weight 3.2 kg
60 H7
72 H6
188
200
70
66
Ambient characteristics:
Running temperature 0 C+50 C
Storage temperature -30 C+80 C
Order identification
Example of Angular Encoder: HAF-23-D200-2
H A F 23 D200 2
Type of shaft: Letter Type of communications protocol: Absolute positions per Outside Accuracy:
identifying turn: diameter:
H: Hollow shaft Blank space: FAGOR / SIEMENS (SL) 2
: 2 arc-seconds
the absolute
F: FANUC (01 and 02) protocol 23 bits (8 388 608 D200: 200 mm 1
: 1 arc-seconds
encoder
M: MITSUBISHI CNC protocol (high positions)
speed serial interface) 27 bits (134 217 728
P: PANASONIC (Matsushita) protocol positions)
24
A B S O L U T E
HA-D90 series
ANGULAR
Dimensions in mm
0 ,5
-0
16
0
11
,5
,2
0
0
10
33
,5
92,5 -10
M3 - 4
x90
0 0,3 A
R1
D2 30 H6 30 H7
General characteristics
Measurement By means of graduated glass disk
Accuracy 5 and 2.5 6,75
23 bits (8 388 608 positions)
Number of pulses/turn 5,8
27 bits (134 217 728 positions)
1 Vpp (16 384 pulses/turn)
Vibration 100 m/s2 (55 2000 Hz)
IEC 60068-2-6
Natural frequency 1 000 Hz A
Shock 1 000 m/s2 (6 ms)
46 0,1
85 f7
89,6
IEC 60068-2-27
35
D1
D2
Inertia 650 gr. cm 2
Weight 1 kg
Ambient characteristics:
Running temperature -20 C... +70 C (5), 0 C...+50 C (2.5) 10
Storage temperature -30 C+80 C 3 0,1 52
Order identification
Example of Angular Encoder: HAF-23-D90-2
H A F 23 D90 2
Type of shaft: Letter Type of communications protocol: Absolute positions per Outside Accuracy:
identifying turn: diameter:
H: Hollow shaft Blank space: FAGOR / SIEMENS (SL) Blank space: 5 arc-
the absolute
F: FANUC (01 and 02) protocol 2 3 bits (8 388 608 D
90: 90 mm seconds
encoder
M: MITSUBISHI CNC protocol (high positions) 2: 2.5 arc-seconds
speed serial interface) 27 bits (134 217 728
P: PANASONIC (Matsushita) protocol positions)
25
A B S O L U T E
SA-D170 series
ANGULAR
Dimensions in mm
45
160
7,5 5,5
54
39,1
39,5
90
General characteristics
Measurement By means of graduated glass disk
0,06 A
0,06 A
0,025 A
Accuracy 2
23 bits (8 388 608 positions)
Number of pulses/turn 0,1 A 0,1 A
27 bits (134 217 728 positions)
1 Vpp (16 384 pulses/ turn)
Vibration 100 m/s2 (55 2000 Hz)
IEC 60068-2-6
Shock 1 000 m/s2 (6 ms) 10
IEC 60068-2-27
Inertia 350 gr. cm 2
Weight 2.65 kg
150
Ambient characteristics:
Running temperature 0 C+50 C A
Storage temperature -30 C+80 C C
IP64 (DIN 40050) standard
Protection
>IP64 with pressurized air at 0.8 0.2 bar
Maximum frequency 180 kHz for 1 Vpp signal
1 MHz for TTL signal
Current under no load condition Maximum 250 mA
Supply voltage 5 V 5% (TTL); 5V 10% (1 Vpp) 3
1 Vpp (16 384 pulses/turn)
Output signals
Differential TTL: EIA RS 485 / EIA RS 422 4 14
Order identification
Example of Angular Encoder: SAF-23-D170
S A F 23 D170
Type of shaft Letter identifying Type of communications protocol: Absolute positions per turn: Outside diameter:
the absolute
S: Solid shaft Blank space: FAGOR / SIEMENS (SL) 23 bits (8 388 608 positions) D170: 170 mm
encoder
F: FANUC (01 and 02) protocol 2 7 bits (134 217 728 positions)
M: MITSUBISHI CNC protocol (high
speed serial interface)
P: PANASONIC (Matsushita) protocol
26
A B S O L U T E
SA-D90 series
ANGULAR
Dimensions in mm
16,5
0
110 -0,5
R1
0
100 0,2
33
,5
45
92,5 -10
5
General characteristics
Measurement By means of graduated glass disk 0,08 A
Accuracy 5 and 2.5
23 bits (8 388 608 positions) 5,8
Number of pulses/turn
27 bits (134 217 728 positions)
20 -10
1 Vpp (16 384 pulses/ turn)
Vibration 100 m/s2 (55 2000 Hz)
IEC 60068-2-6 6,75
10 h6
90 -10
Maximum speed 10000 rpm
Turning torque 0.01 Nm
0,01 A
Load on the shaft Axial: 1 kg
Radial: 1 kg
Weight 0.8 kg
0,08 B 3 0,2
Ambient characteristics:
Running temperature -20 C... +70 C (5), 0 C...+50 C (2.5)
Storage temperature -30 C+80 C 13
IP64 (DIN 40050) standard 42 +10
Protection
>IP64 with pressurized air at 0.8 0.2 bar
Maximum frequency 180 kHz for 1 Vpp signal
1 MHz for TTL signal
Current under no load condition Maximum 150 mA
Supply voltage 5 V 5% (TTL); 5V 10% (1 Vpp)
1 Vpp (16 384 pulses/turn)
Output signals
Differential TTL: EIA RS 485 / EIA RS 422
100 m (FAGOR / SIEMENS)
Maximum cable length 30 m (FANUC, MITSUBISHI,
PANASONIC)
Order identification
Example of Angular Encoder: SAF-23-D90-2
S A F 23 D90 2
Type of shaft Letter Type of communications protocol: Absolute positions per Outside Accuracy:
identifying turn: diameter:
S: Solid shaft Blank space: FAGOR / SIEMENS (SL) Blank space: 5 arc-
the absolute
F: FANUC (01 and 02) protocol 2 3 bits (8 388 608 D
90: 90 mm seconds
encoder
M: MITSUBISHI CNC protocol (high positions) 2: 2.5 arc-seconds
speed serial interface) 27 bits (134 217 728
P: PANASONIC (Matsushita) positions)
protocol
27
A B S O L U T E
HAX series
ROTARY
60
42
Screw DIN912 M3 X 12
3 tapped holes
M4 x 8 a 120
15
78
4
3
3
General characteristics
Measurement By means of graduated glass disk
12 H7
50 g7
30
58
52
Weight 0.5 Kg
Protection IP 65
Supply voltage 5 V 5%
HAX 1 2 1 4 1 2048
In all Type of clamp: Size of the Output signals: Type of connection: Supply voltage: Number of pulses/
cases hollow shaft turn
1
: front clamp 1
: SSI + Vpp 4
: Connector with 17 1
:5V
(A): pins in housing 2
048
2: 12 mm
28
29
A B S O L U T E
FROM 9 METERS ON
EC-...B-C9 cable + XC-C8 F - D extension cable
30
Connection to other CNCs
UP TO 9 METERS
FROM 9 METERS ON
To FANUC: EC... B-C9 cable + XC-C8... FN extension cable
To MITSUBISHI CNC: EC... B-C9 cable + XC-C8 MB extension cable
ECB-C9
Lengths: 1 and 3 meters
(consult Fagor Automation for others)
17-pin CIRCULAR connector (female Pin ) 17-pin CIRCULAR connector (female Pin )
HONDA / HIROSE connector (female Pin ) 10-pin MOLEX/3M RECTANGULAR connector (female Pin )
31
I N C R E M E N T A L
Technology
The incremental encoders provide direct Enclosed design
measure of machine position without using The robust aluminum profile encasing the graduated glass
any intermediate device. The positioning provides the primary protection. The sealing lips provides
errors originating from machine mechanics protection against contaminants and liquids as the reader
are minimized as the encoder is directly head travels along the profile. The reader head movement
mounted to the machine surface and along the graduated glass provides a perfectly balanced
system accurately capturing the machine movement. The
the guide ways. The encoder sends the
reader heard travels on precision bearings with minimum
real machine movement data to the CNC contact with the profile hence minimizing the friction.
and mechanical errors caused due to The optional air inlet at both ends of the encoder and at the
thermal behavior of the machine, pitch reader head provides increased protection levels against
error compensation and backlash etc. are contaminants and liquids.
minimized.
LED
32
Graduated glass /steel tape
Cursor
Aluminum profile
Sealing lips
Reader head
Linear encoder
Reference signals (I0)
It is a reference signal etched on a graduation and when
scanned by the measuring system generates a pulse.
Reference marks are used to validate and restore the
50 a machine
b zero
c position specially after turning on the machine
d d
d power.
Incremental Fagor Automation encoders have three types of reference
marks I0:
Incremental: The reference signal obtained is synchronized
with the feedback signals to ensure perfect measuring
repeatability.
Linear: One every 50 mm of travel.
a b c
0 d Angular and rotary: One signal per turn
d d
Distance-coded: Both on linear and angular encoders
Distances each distance coded reference signal is graduated in a non
Series a b c d
linear way based on the predefined mathematical function.
L 40.04 40.08 40.12 80
G and S 10.02 10.04 10.06 20
The machine position value can be restored by moving
through two consecutive reference signals. The machine
Distance-coded movement needed to know the real position is always
very small and this is a very useful feature for large travel
machines.
Selectable: With selectable linear encoders the customer
can select one or more reference points and ignore the rest
by simply inserting a magnet at the selected point or points.
50
Selectable
incremental I0
etching
reference signals
33
I N C R E M E N T A L
B
Characteristics t+ t-
Signals A, /A, B, /B, I0, / I0 T/4
Example
Vcc = 5V, IMAX = 0.2 Amp (With 120 load)
Z (1 mm2) = 16.6 /Km (Lmax= 75 m)
Z (0.5 mm2) = 32 /Km (Lmax= 39 m)
Z (0.25 mm ) 2 = 66 /Km (Lmax=19 m)
Z (0.14 mm2) = 132 /Km (Lmax= 9 m) Cable length
meters
34
Differential 1 Vpp
They are complementary sinusoidal signals whose differential
V1 Vpp value is 1 Vpp centered on Vcc/2. This characteristic together
A
with a line termination of 120 , twisted pair, and an overall
V2
shield provide greater immunity to electromagnetic noise
T=360 caused by their environment.
Vpp
B Characteristics
Signals A, /A, B, /B, I0, / I0
I0 min VApp 1 V +20%, -40%
VBpp 1 V +20%, -40%
V I0
DC offset 2.5 V 0.5 V
L R Signal period 20 m, 40 m
I0 max Supply V 5 V 10%
Max. cable length 150 meters
A, B centered: |V1-V2| / 2 Vpp 0.065
A&B relationship: VApp / VBpp 0.8 1.25
A&B phase shift: 90 10
I0 amplitude: VI0 0.2 0.8 V
I0 width: L + R I0_min: 180
I0_typ: 360
I0_max: 540
I0 synchronism: L, R 180 90
Example
Vcc = 5V, IMAX= 0.1Amp
Z (1 mm2) = 16.6 /Km (Lmax= 150 m)
Z (0.5 mm2) = 32 /Km (Lmax= 78 m)
Cable length
Z (0.25 mm2) = 66 /Km (Lmax= 37 m)
meters
Z (0.14 mm ) 2 = 132 / Km (Lmax= 18 m)
Cable length
meters
35
I N C R E M E N T A L
Range
Analyze the application to make sure that
the proper encoder will be selected for the
machine.
To do this, bear in mind the following considerations Linear
n Linear Series Section Type of shaft
Installation
Consider the physical length of the installation and the space L 400 mm to 60 m
available for it.
These aspects are crucial to determine the type of linear Long
encoder to use (type of profile).
Signal
Consider the following variables for selecting the type of S 70 mm to 1 240 mm
signal: Resolution, cable length and compatibility.
Reduced
Resolution
The resolution of the control of machine-tools depends on the
linear encoder. SV 70 mm to 2 040 mm
Cable length Reduced
The length of the cable depends on the type of signal.
Angular
Speed
The speed requirements for the application must be analyzed Series Section Type of shaft
before choosing the linear encoder.
Alarm signal
Models SW / SOW / SSW and GW / GOW /GSW offer the
H-D90 Hollow shaft
alarm signal AL.
Accuracy
Each encoder comes with a graph showing its accuracy
along its measuring length. S-D90 Solid shaft
36
Pitch
Accuracy Signals Resolution up to Model Page
1 Vpp HP
1/10 of the pitch 52 and 53
TTL H / HA
1 Vpp SP
1/10 of the pitch 52 and 53
TTL S
37
I N C R E M E N T A L
L series
LINEAR
Specific characteristics
LX LP
LOX LOP
Resolution 1 m Up to 0.1 m
Output signals
TTL differential 1 Vpp
Incremental signal period 4 m 40 m
Limit frequency 500 kHz 50 kHz
Maximum cable length 50 m 150 m
Reference marks (I0) LX and LP: every 50 mm LOX and LOP:
Distance-coded I0
Supply voltage 5V 5%.150 mA 5V 10%,<150 mA
(without load) (without load)
38
Single module CM + 301 Dimensions in mm
4,75
0,05
0,1G
25
4,75
78,5 33 n x 200 0,15 45 37 86,5
200 0,15 200 0,15 A 0,3 G
2,5 1,5
62 1,5
+2,5
+2,5
85 -0,5
79 -0,5
9,5
25 40
10 0,15
51,5 25 90 0,3 A 25
CM
I0 Distance-coded 1 I0 20 50 50 50 q x 50
2068,5-2268,5-2468,5
0,05
0,1 G
25
4,75
+2,5
85 -0,5
79 -0,5
9,5
25 40
10 1,5
51,5 25 90 0,3 A 25
CM
I0 Distance-coded 1 I0 20 50 50 50 q x 50
linear
I0 1 I0 5 80 80 80 r x 80 G Machine way
Non-distance
coded
Order identification
Example of Linear Encoder: LOP - 102 - A
L O P 102 A
Type of profile Type of reference mark I0: Type of signal: Ordering length Air intake on the reader
for long space code: head:
Blank space: Incremental, one X: 1 m resolution differential TTL
mark every 50 mm P: 1 Vpp sinusoidal In the example B
lank space: Without air
O: Distance-coded marks (102) = 10 240 mm intake
A
: With air intake
39
I N C R E M E N T A L
G series
LINEAR
Specific characteristics
GX GY GW GP
GOX GOY GOW GOP
GSX GSY GSW GSP
Resolution 1 m 0.5 m 0.1 m Up to 0.1 m
Output signals TTL differential 1 Vpp
Incremental signal period 4 m 2 m 0.4 m 20 m
Limit frequency 500 kHz 1 MHz 1.5 MHz 100 kHz
Maximum cable length 50 m 150 m
Reference marks I0 GX, GY, GW and GP: every 50 mm
GOX, GOY, GOW and GOP: Distance-coded I0
GSX, GSY, GSW and GSP: Selectable I0
Supply voltage 5V 5%, 5V 10%,
150 mA (without load) <150 mA (without load)
40
Single module Dimensions in mm
0,1 G
0,03
0,1 G
35
25
2
5
M5
7 76
CM+121
CM+100
10,5 24,5 Nx100
0,2 G
100 100
CM/2+65
0,1
1,5 0,3
85
85
25
100,3
35 8,5 25 40
37 90
14,5
I0 Distance-coded 20 50 50 Nx50
CM Measuring length
I0 Non-distance 5 20 20 20 20 Nx20 G Machine way
coded
10,02 10,04 10,06 10,08
linear
Order identification
Example of Linear Encoder: GOX - 1640 - 5 - A
G O X 1640 5 A
Type of Type of reference mark I0: Type of signal: Measuring Accuracy Air intake on the
profile lengths in of the linear reader head:
Blank space: Incremental, one X: 1 m resolution differential TTL
for wide millimeters encoder:
mark every 50 mm Y: 0.5 m resolution differential TTL Blank space:
space
O: Distance-coded marks W: 0.1 m resolution differential TTL In the example 5: 5 m Without air intake
S: Selectable reference marks P: 1 Vpp sinusoidal (1640) = 1 640 3: 3 m A: With air
mm intake
41
I N C R E M E N T A L
S series
LINEAR
Required moving
<5N
force
Operating
0 C...50 C
temperature
Specific characteristics
SX SY SW SP
SOX SOY SOW SOP
SSX SSY SSW SSP
Resolution 1 m 0.5 m 0.1 m Up to 0.1 m
Output signals TTL differential 1 Vpp
Incremental signal period 4 m 2 m 0.4 m 20 m
Limit frequency 500 kHz 1 MHz 1.5 MHz 100 kHz
Maximum cable length 50 m 150 m
Reference marks I0 SX, SY, SW and SP: every 50 mm
SOX, SOY, SOW and SOP: I0 Distance-coded
SSX, SSY, SSW and SSP: I0 Selectable
Supply voltage 5V 5%, 5V 10%,
150 mA (without load) <150 mA (without load)
42
S module Dimensions in mm
0,1 G
0,03
12
3
3 74
2xM4
CM+140
CM+136
10,5 CM+115
20 20
0,1 G
18 4,5
4 0,5
CM > 620
12 28,7 0,5 13,5
1 0,5
4
61,7
54,2
54,2
0,1
10
18 15,5 2
13 56
93
I0 Non-distance A 50 50 Nx50
coded
I0 Distance-coded 5 20 20 20 20 20 Nx20
10,02 CM A
10,04 CM Measuring length
10,06 70 - 1020 35
10,08
10,10 1140 - 2040 45 G Machine way
linear
Order identification
Example of Linear Encoder: SOP - 420 - 5 -A
S O P 420 5 A
Type of profile Type of reference mark I0: Type of signal: Measuring Accuracy of the Air intake on
for reduced lengths in linear encoder: the reader
B
lank space: Incremental, one X : 1 m resolution differential TTL
spaces millimeters 5: 5 m head:
mark every 50 mm. Y : 0.5 m resolution differential TTL
S: Standard O
: Distance-coded marks W : 0.1 m resolution differential TTL In the example 3: 3 m Blank space:
mounting for (420) = 420 mm Without air
S
: Selectable reference marks P: 1 Vpp sinusoidal
up to 10 g intake
vibrations.
A: With air
intake
43
I N C R E M E N T A L
SV series
LINEAR
Specific characteristics
SVX SVY SVW SVP
SVOX SVOY SVOW SVOP
SVSX SVSY SVSW SVSP
Resolution 1 m 0.5 m 0.1 m Up to 0.1 m
Output signals TTL differential 1 Vpp
Incremental signal period 4 m 2 m 0.4 m 20 m
Limit frequency 500 kHz 1 MHz 1.5 MHz 100 kHz
Maximum cable length 50 m 150 m
Reference marks I0 SVX, SVY, SVW and SVP: every 50 mm
SVOX, SVOY, SVOW and SVOP: I0 Distance-coded
SVSX, SVSY, SVSW and SVSP: I0 Selectable
Supply voltage 5V 5%, 5V 10%,
150 mA (without load) <150 mA (without load)
44
Single module Dimensions in mm
28
5,8
38,2
16
16
12
3 74 2xM4 L B1 B2 B3 B4
70 - 520
570 - 920 200
1020 - 1340 200 400
1440 - 1740 200 400 600
1840 - 2040 200 400 600 800
30 30
0,1 G
4
48,2 0,5
10,5
60,2
0,1
60,2
10
12
21
13 56
10
93
18
I0 Non-distance A 50 50 Nx50
coded
I0 Distance-coded 5 20 20 20 20 20 Nx20
10,02 CM A
10,04 70 - 1020 35
CM Measuring length
10,06 1140 - 2040 45 G Machine way
10,08
linear
10,10
Order identification
Example of Linear Encoder: SVOP - 420 - 5 - B - A
SV O P 420 5 B A
Type of profile Type of reference Type of signal: Measuring Accuracy Linear encoder Air intake on
for reduced mark I0: X: 1 m resolution
lengths in of the linear built-in support: the reader
spaces: millimeters encoder: B
: With built- head:
Blank space: differential TTL
SV: Vibration Incremental, one mark Y: 0.5 m resolution In the example 5: 5 m in support for Blank space:
mounting for up (420) = 420 mm 3: 3 m vibration up to Without air
every 50 mm differential TTL
to 20 g. 20 g intake
O: Distance-coded W: 0.1 m resolution
marks differential TTL A: With air
S: Selectable reference P: 1 Vpp sinusoidal intake
marks
45
I N C R E M E N T A L
H-D200 series
ANGULAR
Dimensions in mm
5.75 - 4x90
0,25 B
14,
5
79
25
M4 - 4x90
0,3 C
General characteristics
Measurement By means of graduated glass disk
Accuracy 2 40
18 000, 36 000, 90 000, 180 000 and
Number of pulses/turn
360 000
3,5 36,5
Vibration 100 m/s (55 2000 Hz)
2
17
IEC 60068-2-6
5
Natural frequency 1000 Hz
Shock 1 000 m/s (6 ms)
2
IEC 60068-2-27
Inertia 10 000 gr. cm2
10,5
Maximum speed 1 000 rpm
Turning torque 0.5 Nm
Weight 3.2 kg
60 H7
72 H6
70
66
TTL differential B
(18 000, 36 000, 90 000, 180 000
Output signals
and 360 000 Pulses/turn)
1 Vpp (18 000 and 36 000 Pulses/turn)
Signals TTL: 50 m
Maximum cable length
1 Vpp: 150 m
Order identification
Example of Angular Encoder: HOP - 18000 - D200-2
H O P 18000 D200 2
Type of Type of reference mark I0: Type of signal: Number of pulses/turn of the first feedback: Diameter: Accuracy:
shaft: 2: 2 arc-seconds
Blank space: Incremental, Blank space: 18 000: on 1 Vpp and TTL models D200: 200 mm
H: Hollow one per revolution Differential TTL 36 000: on 1 Vpp and TTL models
shaft O: Distance-coded marks P: 1 Vpp 90 000: only on TTL models
sinusoidal 180 000: only on TTL models
360 000: only on TTL models
46
I N C R E M E N T A L
H-D90 series
ANGULAR
Dimensions in mm
0 ,5
-0
16
0
11
,5
0,2
0
10
33
,5
92,5 -10
M3 - 4
x90
0 0,3 A
R1
10
5
4,
Accuracy 2.5 5
General characteristics D1 20 H6 20 H7
89,6
35
Turning torque 0.08 Nm
D1
Weight 1 kg D2
Ambient characteristics:
3,3 -4x90
TTL differential
Output signals (18 000, 90 000 and 180 000 Pulses/turn)
1 Vpp (18 000 Pulses/turn)
Signals TTL: 50 m
Maximum cable length
1 Vpp: 150 m
Order identification
angular and rotary
H O P 18000 D90 2
Type of shaft: Type of reference mark I0: Type of signal: Number of pulses/turn of Diameter: Accuracy:
the first feedback:
H: Hollow Blank space: Incremental, Blank space: D90: 90 mm Blank space: 5 arc-seconds
shaft one per revolution Differential TTL 18 000: On 1 Vpp and TTL 2: 2.5 arc-seconds
O: Distance-coded P: 1 Vpp sinusoidal models
marks 90 000: Only on TTL models
180 000: Only on TTL
models
47
I N C R E M E N T A L
S-D170 series
ANGULAR
Dimensions in mm
45
160
7,5 5,5
54
39,1
39,5
90
General characteristics
Measurement By means of graduated glass disk
Accuracy 2
Number of pulses/turn 18 000, 90 000 and 180 000
0,06 A
0,06 A
0,025 A
Ambient characteristics:
Running temperature 0 C+50 C
170 h7
140 h6
14 h6
Signals TTL: 50 m 50
Maximum cable length
1 Vpp: 150 m
Order identification
Example of Angular Encoder: SOP - 18000 - D170-2
S O P 18000 D170 2
Type of shaft: Type of reference mark I0: Type of signal: Number of pulses/turn of the Diameter: Accuracy:
first feedback:
S: Solid shaft Blank space: Incremental, Blank space: D170: 170 mm 2: 2 arc-seconds
one per revolution Differential TTL 18 000: on 1 Vpp and TTL
O: Distance-coded marks P: 1 Vpp sinusoidal models
90 000: only on TTL models
180 000: only on TTL models
48
I N C R E M E N T A L
S-1024-D90 series
ANGULAR
Dimensions in mm
33
7 ,5
,
16 2 13
4, ,5
1,
5 25
R10
45
92,5 -10
R2,25
5
0
0 -1 5
11
0,2
0
10
General characteristics
Measurement By means of graduated glass disk
Accuracy 5 0,08 A
Number of pulses/turn 90 000-1 024 / 18 000-1 024
5,8
Vibration 100 m/s2 (55 2000 Hz) 20 -10
IEC 60068-2-6
Shock 1 000 m/s2 (6 ms)
IEC 60068-2-27
6,75
10 h6
90 -10
Load on the shaft Axial: 1 kg
Radial: 1 kg.
0,01 A
Weight 0.8 kg
Ambient characteristics:
Running temperature -20 C+70 C
Storage temperature -30 C+80 C 0,08 B 3 0,2
Order identification
Example of Angular Encoder: SOP - 18000-1024 - D90
S O P 18000-1024 D90
Type of shaft: Type of reference mark I0: Type of signal: Number of pulses/turn: Diameter:
S: Solid shaft Blank space: Incremental, one B
lank space: TTL difererncial 18 000-1024: On 1 Vpp and TTL models D90: 90 mm
per revolution P
: 1 Vpp sinusoidal 90 000-1024: Only on TTL models
O: Distance-coded marks
49
I N C R E M E N T A L
S-D90 series
ANGULAR
Dimensions in mm
16,5
0
110 -0,5
R1
0
100 0,2
33
,5
45
92,5 -10
5
4,5 5
General characteristics
Measurement By means of graduated glass disk
0,08 A
Accuracy 5 and 2.5
Number of pulses/turn 18 000, 90 000 and 180 000
5,8
Vibration 100 m/s2 (55 2000 Hz) 20 -10
IEC 60068-2-6
Shock 1 000 m/s2 (6 ms)
IEC 60068-2-27 6,75
10 h6
90 -10
Load on the shaft Axial: 1 kg
Radial: 1 kg.
0,01 A
Weight 0.8 kg
Ambient characteristics::
Running temperature -20 C... +70 C (5), 0 C...+50 C (2.5)
Storage temperature -30 C+80 C 0,08 B 3 0,2
IP64 (DIN 40050) standard
Protection
>IP64 with pressurized air at 0.8 0.2 bar 13
Maximum frequency 180 kHz for 1 Vpp signal
1 MHz for TTL signal
42 +10
Consumption without load Maximum 150 mA
Supply voltage 5 V 5% (TTL); 5 V 10% (1 Vpp)
Reference signal I0 One reference signal per encoder turn or
I0 distance-coded
TTL differential
(18 000, 90 000 and
Output signals
180 000 Pulses/turn)
1 Vpp (18 000 Pulses/turn)
Signals TTL: 50 m
Maximum cable length
1 Vpp: 150 m
Order identification
Example of Angular Encoder: SOP - 18000 - D90-2
S O P 18000 D90 2
Type of shaft: Type of reference markI0: Type of signal: Number of pulses/turn of the first Diameter: Accuracy:
feedback
S: Solid shaft Blank space: Incremental, Blank space: D90: 90 mm Blank space:
one per revolution Differential TTL 18 000: On 1 Vpp and TTL models 5 arc-seconds
O: Distance-coded marks P: 1 Vpp sinusoidal 90 000: Only on TTL models 2: 2.5 arc-
180 000: Only on TTL models seconds
50
51
angular and rotary
I N C R E M E N T A L
H, S series
ROTARY
52
S, SP model Dimensions in mm
0,08 A
fl 0,05 B B
3x 120
-0,008
-0,018
A 3xM 4 (r.u. 7,5)
fl6
fl50 h7
fl58
5 42
R7
13
3
0,03 A 7 fl7
13
10 11
10 60 13
A Roller bearings
Shaft
flD
D g7
mm
3
L
4
6
fl 50 h7
fl 58
6.35
7 5
L: Min. 9 mm, max. 16 mm R7
3
13
8
7 43
9.53 fl 7
10 11
10
60 13
HA model 58 2,5
A H7 42
5
30 15
2 0, 3x
20
120
A
50 f18
mx: 12
4H
60
0,5 14
0,5 3 x 120
Allen M3 x 12 39
42 a M4 x 5
0,1 A
48,5
S P 1024 C5 R 12 IP 66
Model: Type of signal: Number of Type of connector: Cable exit: Voltaje: Protection:
S: Solid shaft Blank space: pulses/turn Blank space: 1m cable R: Radial Blank space: Blank space:
H: Hollow shaft square signal (TTL (See table without connector Blank space: Axial Standard 5 V Standard
or HTL) page 52) C: Flange socket supply protection (IP 64)
P: 1 Vpp CONNEI 12 12: Optional IP 66: Protection
sinusoidal signal C5: 1m cable with 12 V supply IP 66
CONNEI 12 connector (only for HTL
signal)
HA 2 2 1 3 2 2500
In all Type of clamp: Size of the Output signals: Type of connection: Supply voltage: Number of pulses/
cases hollow shaft turn
1: Rear clamp
(A): 1: A, B, I0 plus their 1: Radial cable (2 m) 1 : Push-Pull
2: Front clamp inverted 2: CONNEI 12 radial (11-30 V) (See table page 52)
1: 10 mm connector built into it 2: RS-422 (5 V)
2: 12 mm 3: Radial cable (1 m) with
CONNEI 12 connector
53
I N C R E M E N T A L
ECP-D
Lengths: 1, 3, 6 and 9 meters
9 +5 V Brown
11 0V White
15 Ground shield
Housing Ground shield
FROM 12 METERS ON
EC-...A-C1 cable + XC-C2 D extension cable
8 B Blue 6 2 /A Green
1 /B Red 8 3 B Grey
1 4 /B Pink
3 I0 Grey
4 I0 Pink 3 5 I0 Red
54
Connection to other CNCs
UP TO 12 METERS
For direct connection to FANUC (second feedback) For direct connection to SIEMENS, HEIDENHAIN, SELCA,
and others.
EC-...C-FN1 ECAS-H
Lengths: 1, 3, 6, 9 and 12 meters
Lengths: 1, 3, 6 and 9 meters
SUB D 15 HD connector (female Pin )
HONDA / HIROSE connector (female Pin )
6 I0 Pink 1 +5 V Brown
9 +5 V Brown
9 +5 V sensor Purple
18-20 +5 V 2 0V White
sensor
11 0 V sensor Black
12 0V White
Housing Ground shield
14 0V
sensor
16 Ground Internal shield Without a connector at one end; for other applications.
Housing Ground External shield ECAS-O
Lengths: 1, 3, 6, 9 and 12 meters
Signal Color
A Green
/A Yellow
B Blue
/B Red
I0 Grey
I0 Pink
+5 V Brown
+5 V sensor Purple
0V White
0 V sensor Black
Ground shield
FROM 12 METERS ON
EC-...A-C1 cable + XC-C2 H extension cable
6 2 /A Green 6 4 /A Green
8 3 B Grey 8 6 B Grey
1 4 /B Pink 1 7 /B Pink
3 5 I0 Red 3 10 I0 Red
4 6 I0 Black 4 12 I0 Black
12 9 +5 V Brown/ 12 1 +5 V Brown/
Green Green
2 18-20 +5 V Blue 2 9 +5 V Blue
sensor sensor
10 12 GND White/ 10 2 0V White/
Green Green
11 14 GND White 11 11 0V White
sensor sensor
Housing 16 Ground Shield Housing Housing Ground Shield
55
A N G U L A R E N C O D E R S
accessories
Couplings for solid-shaft encoders
AA Model
14 F7
,5
5
70 F7
3 88
20 98
a b AP 14 model
Model
mm mm
AA 10/10 10 10
AA 10/14 10 14
20 78
AA 14/14 14 14 3 68
M22x1
28H7
10 F7
50g6
14
M6
AP 10 model
Specific characteristics
AA 10/10
AA 10/14 AP 10 AP 14
AA 14/14
Maximum radial misalignment permitted
0.3 mm 0.3 mm 0.3 mm
56
R O T A R Y E N C O D E R S
accessories
Coupling caps (solid shaft)
40 25,4 19,6
6 6
20 6 25 19,2
Specific characteristics
AF AC AL
-0,1
9 -0,3 4,5 1,5
5 12
57
L I N E A R A N D A N G U L A R E N C O D E R S
accessories
Protection
Enclosed linear encoders meet the protection requirements If the encoder is exposed to concentrated liquids and vapor,
IP 53 of the IEC 60 529 standard when mounted so water compressed air may be used to achieve a protection degree
splashes dont hit the sealing lips directly. For further of IP 64 and prevent any contamination from getting inside.
protection, a separate protection guard must be mounted. For these cases, Fagor Automation recommends their Air
filter units AI-400 and AI-500.
AI-400 filter
The air coming from an compressed air supply must be
treated and filtered in the AI-400 unit which consists of:
F
iltering and pressure regulating group.
F
ast inlets and joints for 4 measuring systems.
A
plastic tube 25 m long with an inside diameter of 4 mm
and outside diameter of 6 mm.
AI-500 filter
Under extreme conditions where the air must be dried, Fagor
Automation recommends using their air filter AI-500. This
includes a drying module that makes it possible to reach the
conditions required by Fagor Automation feedback systems.
Air conditions (Meets the standard DIN ISO 8573-1) Safety switch
Fagor Automation linear feedback systems require the It consists of a pressostat capable of activating an alarm
following air conditions: switch when the pressure gets below 0.66 kg/cm2.
Class 1 - Maximum particle 0.12 Technical data:
Class 4 (7 bars) - Dew point 3 C The switching pressure may be adjusted between 0.3 and
1.5 kg/cm2.
Class 1 - Maximum oil concentration: 0.01 mg/m3.
Load: 4 A.
Voltage: 250 V approx.
Protection: IP65.
58
SIEMENS is a registered trademark of SIEMENS Aktiengesellschaft, PANASONIC is a registered trademark of PANASONIC Corporation, FANUC is a registered
trademark of FANUC Ltd. and MITSUBISHI is a registered trademark of MITSUBISHI Shoji Kaisha, Ltd.
Fagor Automation shall not be held responsible for any printing or transcribing errors in the catalog and reserves the right to make any changes to the characteristics
of its products without prior notice. You must always compare the data with that appearing in the manual that comes with the product.
Fagor Automation, S. Coop.
B San Andrs, 19
E-20500 Arrasate - Mondragn
SPAIN
Tel.: +34 943 719 200
Fax.: +34 943 791 712
E-mail: info@fagorautomation.es
ER-073/1994
w w w. f a g o r a u t o m a t i o n . c o m
8055 - EN
EPS GRAL.
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