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Encoders_Basic_Training_SICK_SICKSICK.ppt
- 1. Mandee Liberty &Vikram Phadke National Encoder Product Specialists : Encoders – Basic Training
- 2. : SICK, Inc.: Confidential Typical Industrial System Input Output Feedback Controller Operation (Application) Sensor 2
- 3. : SICK, Inc.: Confidential Encoders within a Control System 3 Feedback Sensor
- 4. : SICK, Inc.: Confidential What is an encoder? : An encoder is a device which converts a mechanical information of a shaft or position into an electrical signal Encoder Encoder Definitions 4
- 5. : SICK, Inc.: Confidential Encoder Definitions 5 How is this accomplished? : As the code disc rotates, it shutters light from the LED and is received and transmitted as squaresine waveforms Receiver / Sensor Code disc Lens Transmitter / LED Shaft
- 6. : SICK, Inc.: Confidential 6 Encoder Selection Process
- 7. : SICK, Inc.: Confidential 7 Encoder Selection Process
- 8. : SICK, Inc.: Confidential Encoder Rotary Encoder Linear Encoder Types of Encoders 8
- 9. : SICK, Inc.: Confidential 9 Types of Encoders
- 10. : SICK, Inc.: Confidential Encoder Linear Encoder Wire Draw Linear with Scale Types of Encoders 10
- 11. : SICK, Inc.: Confidential 11 Types of Encoders
- 12. : SICK, Inc.: Confidential Encoder Rotary Encoder Incremental Absolute Linear Encoder Wire Draw Linear with Scale Absolute Incremental Types of Encoders 12
- 13. : SICK, Inc.: Confidential 13 Incremental Produces electrical pulses or increments with linear or rotary motion Signals can be square or sinusoidal waves Signals start over at power up, or after a power failure. In other words, an incremental encoder does not retain position after a power cycle Incremental encoders are typically used for speed or applications that do not require absolute position Incremental Encoders
- 14. : SICK, Inc.: Confidential Absolute Encoders 14 Absolute Provides a unique value for every shaft or linear position Absolute encoders retain their position after a power cycle Signals typically use SSI, parallel, or field bus interfaces (Ethernet/IP, EtherCAT, Profinet, Devicenet, CANopen, Profibus, etc) Absolute encoders are used in applications were position information is necessary Code disc for absolute encoders LED Lens Scanning mask Code disc Photo- Elements
- 15. : SICK, Inc.: Confidential Encoder Selection Process 15 Electrical Interface
- 16. : SICK, Inc.: Confidential Encoder Rotary Encoder Incremental Absolute Types of Encoders 16
- 17. : SICK, Inc.: Confidential Incremental Encoders Output Channels : Incremental encoders - produce electrical pulses or increments (usually as a square wave) with linear or rotary motion of the encoder : Resolution - The number of pulses or increments per channel, per revolution. Also known as Pulses Per Revolution, or PPR : Quadrature: - The standard convention is to output two square wave channels along with their complements - Channels A and B are offset by ¼ of a cycle – using all four channels with this output, we can interpolate 4 positions within one pulse cycle. This is known as “quadrature” - The 1/4th offset also allows us to see which direction the encoder is turning based on what channel is leading. If channel A goes high first followed by channel B, we can determine the direction of rotation, and visa versa. : Name (Date) 17
- 18. : SICK, Inc.: Confidential Incremental Encoders Electrical Signals : Output Voltages - Standard output voltages are HTL, TTL or Open Collector. These refer to the amplitude of the square waves : HTL (High Threshold Logic) - Also known as “push pull” - The output voltage will be the same as the supply voltage (e.g if the supply on the encoder is 24V, the output signal will also be ~24V) : TTL (Transistor Transistor Logic) - Also known as a “differential line driver” or “RS422” - The output voltage will always be 5V regardless of the supply voltage on the encoder : Open Collector - Instead of outputting a signal of a specific voltage or current, the output signal is applied to the base of an internal NPN transistor whose collector is externalized : Name (Date) 18
- 19. : SICK, Inc.: Confidential 19 Incremental Encoder – Electronic Interface Summary •Standard Supply voltages are 5VDC, 10-32 VDC, and 8-24VDC •Standard outputs are TTL, HTL and Open collector Incremental Electronic Interface TTL / RS 422 Supply = 5V TTL / RS 422 Supply = 10 ... 32V HTL / Push Pull Supply = 10 ... 32V Open Collector Supply = 8-24 V Incremental Encoders Interface Summary
- 20. : SICK, Inc.: Confidential Encoder Rotary Encoder Incremental Absolute Multiturn Singleturn Absolute Encoders Singleturn vs Multiturn Absolute Encoders 20
- 21. : SICK, Inc.: Confidential 21 Singleturn and Multiturn Absolute
- 22. : SICK, Inc.: Confidential Absolute Electronic Interface SSI Parallel BUS 22 Absolute Encoder Interfaces
- 23. : SICK, Inc.: Confidential : Parallel Output - First form of communication for absolute encoders : Connection - Point-to-point communication where each output wire represents a different data bit : Benefits - Direct output to digital inputs - Fast (60us typically) : Name (Date) 23 : Drawbacks - Complex cabling due to separate bit wires - High cost Parallel Output
- 24. : SICK, Inc.: Confidential : Synchronous Serial Interface (SSI) - Very common serial interface standard for industrial applications - Developed by Stegmann in 1984 for absolute encoders – now in many products : Connection - Point-to-point connection from a master (PLC, microcontroller) to a slave (encoder) : Benefits - Simple cabling, especially compared to parallel outputs - Fast communication speeds - Low cost : Name (Date) 24 : Drawbacks - Point-to-point connection, topology restrictions Synchronous Serial Interface (SSI)
- 25. : SICK, Inc.: Confidential Network Encoders : What do we (or the customer) mean when we say “network encoder”? - A network is a collection of products (sensors, HMIs, processes, etc) that are connected to a central controller or share information between parts. - Also known as Field Bus - Example: an Internet VPN (virtual private network): : Name (Date) 25
- 26. : SICK, Inc.: Confidential : Field Bus - Industrial network system that connects multiple products in a manufacturing plant or on a machine : Benefits - Products are no longer point-to-point which allow multiple products to be connected to one controller - Generally does not require as many cables as a point to point configuration, and cables do not need to be as long. This saves on system costs. - Typically the controller has more flexibility for configuration and information gathering : Disadvantages - The network topologies are generally more complex - Individual components cost more than standalone products (potential system savings, however) : Name (Date) 26 Field Bus Interfaces
- 27. : SICK, Inc.: Confidential SICK Absolute Encoder Fieldbus Interfaces : Name (Date) 27 ATM60 Series AFx60 Series
- 28. : SICK, Inc.: Confidential Electrical Interface Summary Things to know when choosing an encoder : Incremental Encoders - Resolution (PPR) - Supply Voltage - Output Voltage (HTL, TTL or Open Collector) - Programmable Encoders: DFS60 and DFS2x encoders let you program ALL electrical configurations except an open collector output : Absolute Encoders - Resolution (singleturn, multiturn) - Output type ▪ Parallel (output voltage needed) ▪ SSI ▪ Fieldbus - Programmable Encoders Programmable options for SSI encoders to program the resolution. All field bus encoders are programmable over their respective networks : Name (Date) 28
- 29. : SICK, Inc.: Confidential Encoder Selection Process 29 Mechanical Considerations
- 30. : SICK, Inc.: Confidential 30 : Housings and Connection - Housing Size - Cable or Connector : Shafts - Solid, blind hollow, through hollow - Sizes, shaft load : Flange - Face mounting flange - Servo flange - Square Flange - Tethers Mechanical Characteristics
- 31. : SICK, Inc.: Confidential Encoder Selection Process 31
- 32. : SICK, Inc.: Confidential Product Overview - Rotary Encoders Absolute Singleturn Encoders Absolute Multiturn Encoders 32
- 33. : SICK, Inc.: Confidential Product Overview - Linear Encoders 33
- 34. : SICK, Inc.: Confidential Key Products in 2013 Choice encoders that will solve most applications 34 AFx60 Series With Ethernet DFS60 with PGT-10-S Programming Tool BCG Wiredraw with Analog Output DFS20/25 Incremental Encoder • Handheld, battery operated programming tool • Easy menu structure for fast setup and flexibility • Can be used for diagnostics with the display or as a cloning module • USA sized encoders with SICK’s “F”-Technology: • Wide set bearings for even shaft loading • Metal code disc for high vibration and temperature • Programmable using the PC-based tool • Absolute single- and multi- turn encoders with EtherNet/IP, EtherCAT, and Profinet interfaces • Device Level Ring (DLR) functionality with the EtherNet/IP version • Superior diagnostics for temperature, speed, runtime, and many more • Compact wiredraw encoder for applications in tight spaces • Up to 10m of measuring length • Analog output scalable directly on the encoder for fast commissioning
- 35. : SICK, Inc.: Confidential Handling Wood industry Automotive Ports & Cranes Packaging Machine Tooling Print & Paper … And many more Fields of applications 35
- 36. : SICK, Inc.: Confidential Application Examples 36 OVERHEAD CRANE– AFM60 EtherNet/IP used to track position of crane CONVEYORS – DKV60 used to track speed of conveyor
- 37. : SICK, Inc.: Confidential Application Examples 37 WIND TURBINE – Absolute encoder AFM60 for gandala and blade angle tracking BOTTLING – Absolute encoder AFS60 to track position of fillers
- 38. : SICK, Inc.: Confidential Application Examples 38 STADIUM ROOF – Position with KH53 Linear Encoder LIFT APPLICATIONS – Height and Width positioning using BGC Wiredraw Encoders
- 39. : SICK, Inc.: Confidential Additional Resources 39 Demonstration Videos & Application Animations SICK University Tour March – May 2013 Product Training Demo Cases Tech Tuesdays Check www.sickusa.com for schedule
- 40. : SICK, Inc.: Confidential Marketing Tools 40 Encoder Selection Guide Application Book Encoder Catalog *Update in 2013
- 41. : Thank youfor your attention.
Editor's Notes
- #2 Other components – HMI, Mechanical, etc Input I/O Types Discrete Analog Communication Encoders Discrete Analog Communication
- #6 Give everyone a selection guide: Explain the Selection Guide
- #7 Give everyone a selection guide: Explain the Selection Guide
- #22 Absolute encoders transmit position information via serial, parallel bits or via bus communication. Parallel wires can provide position information as one bit per wire. Parallel bit communication has distance restrictions – usually 10 M. Electric noise interference and power supply capabilities are limiting factors. BUS communication is very efficient, but also has distance limitations – usually 100 M per drop. Serial communication can run the longest distances – sometimes in excess of 1000 M. SSI (Synchronous Serial Interface) is a popular format for serial communication.