LMA10 absolute magnetic encoder system

Data sheet
LMA10D01_04
Issue 4, 5th July 2016
LMA10 absolute magnetic encoder system
Track system
LMA10 is an absolute
magnetic linear encoder
system which has been
designed for motion control
applications as a position
and velocity control loop
feedback element.
The encoder system is highly
reliable due to contactless absolute
measuring principle, built-in
safety algorithms and high quality
materials/components used.
The measuring standard is a magnetic
scale which consists of a stainless
steel substrate with an elasto-ferrite
layer.
The readhead incorporates Hall sensor
arrays for PRBS track reading, an
AMR sensor for incremental track
reading, interpolation electronics and
custom logic circuitry. The data from
the Hall arrays and interpolator are
processed in the logic circuitry using
special algorithms to determine the
absolute position.
●● True absolute system
●● Suitable for highly dynamic
control loops
●● Small footprint
●● High accuracy
●● Resolutions up to 0.244 µm
●● Axis lengths of up to 16.3 m
The electronic design provides
extremely short response and recovery ●● Speeds up to 7 m/s at 0.977 µm
resolution
times, which consequently make
it ideal for applications with highly
●● Integral status LED
dynamic control loops.
●● BiSS-C unidirectional
Diagnostic information is available
communication protocol
through a serial communication
●● Simple and fast installation
channel and status LED.
●● Robust measuring principle
If a failure is diagnosed, the encoder
The elasto-ferrite layer is magnetised
needs to be switched off and then
with two tracks. The incremental
switched on again in order to resume
track is magnetised with 2 mm long
functionality.
(alternating south and north) poles and
the absolute track is magnetised with
a pseudo random binary sequence
(PRBS) absolute code with 13 bit
length. The elasto-ferrite layer is
immune to chemicals commonly found
in industry.
A
●● Excellent dirt immunity to IP68
associate company
Data sheet
LMA10D01_04
LMA10 dimensions
Dimensions and tolerance in mm.
52
42
16
M3 through
H
D
17
4
5
3 ±0.2
3
46
Surface print on scale*
10
3
Incremental track
Absolute track
10
AS10A\WWYY.BB
M3 deep 4
* Scale surface print does not represent the actual ordering code.
For orientation purpose only.
Magnetic scale thickness (D)
Ride height (H)
Standard option
Option 01
With back-adhesion tape
1.5 ±0.15
1.7 ±0.15
0.1 – 0.6
With back-adhesion tape,
with cover foil
1.6 ±0.15
1.8 ±0.15
0.1 – 0.5
No back-adhesion tape
1.3 ±0.15
1.5 ±0.15
0.1 – 0.6
No back-adhesion tape, with
cover foil
1.4 ±0.15
1.6 ±0.15
0.1 – 0.5
No back-adhesion tape,
sides prepared for TRS
1.3 ±0.15
1.5 ±0.15
0.1 – 0.4
No back-adhesion tape,
sides prepared for TRS, with
cover foil
1.4 ±0.15
1.6 ±0.15
0.1 – 0.3
NOTE: Orientation of the readhead relative to
AS10 magnetic scale should be according
to the drawing. For reference use the
surface print on AS scale or a magnet
viewer (see image below).
Incremental
track
Absolute
track
Magnetic viewer
LMA10 installation tolerances
Pitch
±1° Roll
±0.5°
Lateral offset
±0.5°
Yaw
±0.2 mm
Status LEDs
LED
Green
2
Communication
Status
Yes
Valid position data
Green flashing
No
Valid position data
Orange
Yes
Valid position data, > 80 % of max. speed
Orange flashing
No
Valid position data, > 80 % of max. speed
Red
Yes
Invalid position data
Red flashing
No
Invalid position data
Storage and handling
> 60 mm
N
S
WARNING: The AS magnetic scale should not be exposed to
magnetic field densities higher than 50 mT on its surface.
Magnetic fields higher than 50 mT can damage the scale.
Motor oil
Brake fluid
Alcohol
HCl
Heptane
Benzene
Toluene
CCl4
Storage –20 °C to +70 °C
Antifreeze
Turpentine
Sea
water
Kerosene
Steam
Operating 0 °C to +55 °C
(cable under non-dynamic
conditions: –20 °C to +55 °C)
C2HCl3
Up to 100 % RH
Shield connection
Encoder
Customer
electronics
Inner shield
5V
Extension cable
Clock lines
Data lines
Sense lines
0V
Outer shield
A
associate company
3
Data sheet
LMA10D01_04
LMA10 technical specifications
System data
Maximum length for AS scale
16.3 m
Incremental pole length
2 mm
System accuracy
±40 µm/m
Short range accuracy
< ±10 µm/10 mm (see diagram 5)
Coefficient of thermal expansion (CTE)
11 ±1 µm/m/K
Hysteresis
< 2 µm at 0.1 mm ride height (see diagram 1)
Repeatability
Better than unit of resolution for movement in the same direction
Available resolutions [µm]
Maximum speed [m/s]
Maximum speed during power on
~ 0.244
~ 0.488
~ 0.976
~ 1.953
~ 3.906
~ 7.812
1.75
3.5
7
10
10
10
0.5 m/s
Electrical data
Power supply
5 V ±5 % (voltage on readhead)
Consider voltage drop over cable (see diagram 3 and 4)
Set-up time after switch-on
< 250 ms
Power consumption (without load)
< 150 mA
Voltage drop on the cable
55 mV/m; 35 mV/m (sense lines parallel to power supply)
Mechanical data
Mass
Readhead (with 1 m cable, no connector) 41 g, magnetic scale 60 g/m
Cable
PUR high flexible cable, drag-chain compatible, double-shielded 7 × 0.05 mm2 (AWG 30);
1 × 0.14 mm2 (AWG 26) durability: 20 million cycles at 20 mm bend radius at whole temperature
range
Environmental data
Temperature
Operating
Storage
4
0 °C to +55 °C
–20 °C to +70 °C
Vibrations (55 Hz to 2000 Hz)
300 m/s2 (IEC 60068-2-6)
Shocks (11 ms)
300 m/s2 (IEC 60068-2-27)
Humidity
100 % (condensation permitted)
EMC Immunity
IEC 61000-6-2 (particularly: ESD: IEC 61000-4-2; EM fields: IEC 61000-4-3;
Burst: IEC 61000-4-4; Surge: IEC 61000-4-5; Conducted disturbances: IEC 61000-4-6;
Power frequency magnetic fields: IEC 61000-4-8; Pulse magnetic fields: IEC 61000-4-9)
EMC Emission
IEC 61000-6-4 (for industrial, scientific and medical equipment: IEC 55011)
Environmental sealing
IP68 (according to IEC 60529)
6
Max. clock frequency [MHz]
Hysteresis [µm]
4
3
2
1
0
0
0.1
0.2
0.3
0.4
0.5
0.6
4.5
3
1.5
0
0.7
Without line delay
compensation
With line delay
compensation
0
20
Ride height [mm]
Diagram 1: Hysteresis vs. ride height
11
Maximum power supply voltage
Minimum power supply voltage
13
10
7
4
0
20
40
60
80
7.5
5.75
0
13
Ride height
+
te
La
60
80
100
Diagram 4: Required power supply voltage on
cable end vs. overall cable length
with sense lines connected parallel
to power supply lines
se
off
)
L=0
L = –0.2
11
9
7
40
Cable length [m]
Accuracy error [μm]
Short range accuracy [μmpp/10 mm]
15
20
LO
t(
l
ra
100
Minimum power supply
voltage
9.25
4
100
Diagram 3: Required power supply voltage on
cable end vs. overall cable length
L = 0.2
80
Maximum power supply voltage
Cable length [m]
17
60
Diagram 2: Maximum clock frequency vs.
cable length
Required power supply
voltage on cable end [V]
Required power supply
voltage on cable end [V]
16
40
Cable length [m]
0.1
0.4
Short range accuracy
0.6
Ride height [mm]
Diagram 5: Short range accuracy vs. ride height-lateral offset
(LO) as a parameter - typical
Measuring travel [mm]
Diagram 6: Definition of short range accuracy
A
associate company
5
Data sheet
LMA10D01_04
LMA10DC - BiSS-C uni-directional interface
Signal level
RS422
Maximum clock frequency
5 MHz
Length of position data
26 bit
Length of status data
2 bit
Length of CRC
6 bit (inverted bit output - polynomial 0x43)
Position data encoding
Pure binary
Latency (tlatency)
0.8 µs at 5 MHz (otherwise 4 MA clock periods)
Recovery (trecovery)
≥ 5 μs
LSB = (2000 μm)/213 ≈ 0.244 μm (regardless the selected resolution)
Timing diagram
Encoder latches position value
MA
SLO
ACK
START
CDS
MSB
tlatency
LSB
Error
Position data
Warning CRC
Status data
CRC
CRC data
trecovery
Status data
Bit
Type
“H” (“L” for option 03)
E
Alarm
Invalid position data
OK
Movement too fast, demagnetisation, sensing distance too high,
orientation of readhead and scale
W
Warning
Valid position data, close
to overspeed
OK
>80 % of maximum speed
Connections
Pin
9 pin D type plug
”L”(“H” for option 03)
Colour
Case
Signal
Outer shield
1
Inner shield
2
Pink
MA +
3
Blue
MA –
4
Yellow
+5 V sense
5
Brown
+5 V supply
6
Grey
SLO +
7
Red
SLO –
8
Green
0 V sense
9
White
0 V supply
Cable specifications
Number of wires
4.2 mm ±0.2 mm
Jacket material
Extruded polyurethane (PUR)
White wire
0.14 mm2, 26 AWG, 0.13 Ω/m
Other wires
0.05 mm2, 30 AWG, 0.35 Ω/m
Durability
Bend radius
Weight
6
8
Outer diameter
20 million cycles at 20 mm bend radius
Dynamic 25 mm, static 10 mm (internal radius)
34 g/m nominal
Possible reason for failure
NOTE: If controller does not support voltage sense
functionality, we recommend connecting sense lines
parallel to power supply lines in order to decrease
voltage drop over cable. In case sense lines are
not used and/or connected, they should be isolated in
order to prevent possible shorts between power supply
lines.
LMA10 readhead part numbering
LMA10 DC 13B 10 A 00
Output type
DC - BiSS-C communication protocol
Special requirements
00 - No special requirements (standard)
01 - Without LED
03 - Status bits active low
0M - Cable length in meters
3M - Status bits active low, cable length in
meters
Resolution
13B - 2/213 mm (~ 0.244 µm)
12B - 2/212 mm (~ 0.488 µm)
11B - 2/211 mm (~ 0.977 µm)
10B - 2/210 mm (~ 1.953 µm)
09B - 2/29 mm (~ 3.906 µm)
08B - 2/28 mm (~ 7.812 µm)
Connector option
A - 9 pin D type plug
F - Flying lead (no connector)
Cable length
10 - 1.0 m (standard)
AS10 magnetic scale part numbering
AS 10 A 01000 A 00
Scale width
10 - 10 mm width
Special requirements
00 - No special requirements (standard).
Maximum scale length up to 4 m.
01 - Maximum scale length up to 16.3 m. See table on page 2 for reference on scale thickness.
Options
A - Back-adhesion tape (standard)
B - Back-adhesion tape, with CF10 cover foil*
C - Back-adhesion tape, ends prepared for end clamping
G - No back-adhesion tape, sides prepared for insertion into track system **
H - No back-adhesion tape, sides prepared for insertion into track system
with CF08 cover foil*
I - No back-adhesion tape
N - No back-adhesion tape, with CF10 cover foil*
P - No back-adhesion tape, ends prepared for end clamping
Precision class
A - ±20 µm/m
Scale length
xxxxx - Where xxxxx equals scale length in mm. Maximum scale length up to 4 m (up to 16.3 m with special option 01).
* Cover foil supplied separately.
** For details on TRS track system please refer to data sheet
LM10D18 on www.rls.si/trs.
Hole to hole distance 1
Scale length
Ends prepared for
end clamping
3 ±0.5
3.5 ±0.5
10 ±0.2
Positive direction
Surface print on scale*
AS10A/WWYY.BB
End clamp
End clamp
5
5
Measuring length 2
START
FINISH
1
2
Hole to hole distance (for end clamp mounting) = Scale length + (6 mm ±1 mm)
Measuring length = Scale length - 42 mm
Cover foil part numbering
* Scale surface print does not represent the actual ordering code.
For orientation purpose only.
CF 10 1000
Width of cover foil
08 - 8 mm width (for track system option only)
10 - 10 mm width
Foil length
xxxx - Where xxxx equals foil length in cm
A
associate company
7
Data sheet
LMA10D01_04
Accessories part numbering
Applicator tool for magnetic
scale and cover foil
End clamp kit
(2 clamps + 2 screws)
LMA10ASC00
LM10ECL00
USB encoder interface
Magnet viewer
E201-9S
MM0001
For details on E201 interfaces
please refer to data sheet E201 on
www.rls.si/e201.
8
®
Head office
RLS merilna tehnika d.o.o.
Poslovna cona Žeje pri Komendi
Pod vrbami 2
SI-1218 Komenda
Slovenia
T +386 1 5272100
F +386 1 5272129
E [email protected]
www.rls.si
Document issues
Issue
Date
Page
Corrections made
1
6. 5. 2013
-
2
22. 4. 2014
3, 5
12. 11. 2014
5
Line delay compensation chapter added
25. 1. 2016
1
Axis length corrected
2
Note, magnetic viewer picture, new option 01 in table magnetic scale thickness
3
New storage and handling and shield connection
4
Maximum length for AS scale, maximum speed, cable data corrected, new voltage drop on the cable
5
New diagram 2 and 4, color changes in graphs
6
New note and cable specifications, corrected connections
7
Part numbering: new special requirements (01, 0M, 3M), new resolutions (09B, 08B)
AS scale part numbering: new precision class, new special requirements (01)
8
New magnet viewer
2
Ride height table amended
3
4
5. 7. 2016
2, 6
New document
New graphs, new special requirement and new data in technical specifications added.
Ride height table amended , length of position data amended
RLS merilna tehnika d.o.o. has made considerable effort to ensure the content of this document is correct at the date of publication but makes no
warranties or representations regarding the content. RLS merilna tehnika d.o.o. excludes liability, howsoever arising, for any inaccuracies in this document.
© 2016 RLS d.o.o.
A
associate company