DATASHEET

ABSOLUTE MAGNETIC ROT ARY ENCODER CANOPEN

CANOPEN

High-resolution absolute encoder based on magnetical technology. Singleturn encoding based

on 360° Hall technology. Multiturn encoding based on magnetic pulse counter. No batteries used.

Main Features Programmable Parameters

- Compact industrial model - Baud rate and CAN-Identifier
- Interface: CANopen (DS406) - Resolution per revolution
CANopen Lift (DSP417) - Total resolution
- Housing: 36.5 mm - Direction of rotation (complement)
- Solid Shaft: 6 or 10 mm - Preset value
- Blind hollow shaft: 6 mm - Two limit switches
- EMC: EN 61000-6-2, EN 61000-6-4 - Transmission mode: Polled mode,
- Max. revolution not limited (typical 15 bit) cyclic mode, sync mode
- Velocity and Acceleration Output
- LSS services

Mechanical Structure Electrical Features

- Aluminum flange - Polarity inversion protection
- Nickel-plated steel housing - Over-voltage-peak protection
- Stainless steel shaft - Galvanic Isolation
- Precision ball bearings

AMERICA EUROPE ASIA

FRABA Inc. POSITAL GmbH FRABA Pte. Ltd.
1800 East State Street, Suite 148 Carlswerkstrasse 13c 60 Alexandra Terrace
Hamilton, NJ 08609, USA D-51063 Köln, GERMANY Singapore 118502, SINGAPORE
T +1 609 750-8705, F +1 (609) 750-8703 T +49 221-96213-0, F +49 221-96213-20 T +65 65148880, F +65 62711792
www.posital.com, [email protected] www.posital.eu, [email protected] www.posital.sg, [email protected]
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Technical data CANOPEN

Electrical data

Transceiver according ISO 11898,

Interface galvanically isolated by opto-couplers
Transmission rate max. 1 MBaud
Device addressing Adjustable by SDO telegrams or Layer Setting Services
Supply voltage 10-30 V DC ( absolute maximum ratings ) *
Current consumption max. 100 mA with 10 V DC, max. 50 mA with 24 V DC
Power consumption max 1,2 Watts
5
Electrical lifetime > 10 h
EMC Emitted interference: EN 61000-6-4
Noise immunity: EN 61000-6-2
* Supply voltage according to EN 50 178 (safety extra-low voltage)

Sensor data

Singleturn technology magnetic 2 axis Hall sensor

Singleturn resolution up to 4096 steps / revolution ( 12 Bit )
Singleturn accuracy ± 0.35°
Internal cycle time Singleturn < 1 ms
Multiturn technology self supplied magnetic pulse counter ( Wiegand Sensor )
Multiturn resolution Can measure up to 200 Billion revolutions

Environmental Conditions

Operating temperature sensor (*) - 30 ... + 85 °C ( -22 …+185 °F )

Storage temperature (*) - 30 ... + 85 °C ( -22 …+185 °F )
Humidity 98 % ( without liquid state )
Protection Class (EN 60529) Casing side: IP 54 ( moulded : MCD-…-CAW )
Casing side: Casing side: IP 65 ( other types : MCD-…-PAM and MCD-…-GAW )
Protection Class (EN 60529) IP 65 ( Clamp flange MCD-…-C100-.. )
Shaft side: IP 54 ( other types : MCD-…-S060-… and MCD-…-B060-… )
(*) Please also refer temperature range of cable

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Mechanical data

Housing Coated steel housing

Flange Aluminum
Shaft Stainless steel
Lifetime Dependent on shaft version and shaft loading – refer to table
Max. shaft loading axial 40 N, radial 110 N
2 2
Inertia of rotor 30 gcm ( 0.11 oz-in )
Friction torque at + 25°C 3 Ncm ( 2.8 oz-in )
RPM (continuous operation) max. 12.000 RPM
Shock
EN 60068-2-27 100 g ( half sine, 6 ms XYZ)
MIL-STD-810C 200 g ( half sine, 3 ms XYZ)
Permanent shock
EN 60028-2-29 10 g ( half sine, 16 ms XYZ)
MIL-STD-810C 30 g ( half sine, 11 ms XYZ )
Vibration
EN 60068-2-6 10 g (10 Hz ... 1,000 Hz, XYZ)
MIL-STD-810 4.2 g ( 5 Hz … 500 Hz XYZ)
Weight (standard version) 150 g ( 0.33 lbs ) including cable

Minimum (mechanical) lifetime

8
Flange Lifetime in 10 revolutions with ( Fa/Fr )
S6 Synchro flange (MCD-…-S060-…) 224 ( 20N/20N ) 28 ( 20N/40N ) 3 ( 20N/80N )
C100 flange (MCD-…-C100-…) 247 ( 40N/60N ) 104 ( 40N/80N ) 40 ( 40N/110N )

Cable (*)

Operating temperature cable flexing -5°C to +70°C ( +23 … +158 °F )

static -30°C to +70°C ( -22 … +158 °F )
Minimum bend radius flexing 10x cable diameter
fixed 5x cable diameter
Cable approx 6 mm (~0.236 in) / type : LIYCY 4x2x0.14
(*) Valid for types: MCD-…-CAW and MCD-…-GAW

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Interface

Configuration Electrical interface

By default, the encoder has a standard The Sensor is connected via a 5 pin circular M12
configuration of Node Number 32 and a baud rate connector. Counter connectors / Connection
of 20KBaud. Customers can use SDO protocol for cables are available from POSITAL or third party
adapting to the specific applications. In general, suppliers. Refer to the table below for the Pin
valid baud rates range from 20K to 1MBaud and configuration.
node numbers range from 0 to 127.
.
Remark: The encoder adds internal 1 to the
adjusted node number.

Connection plan

Function Wire end Connector Pin RJ45 Connector Pin M12

Can High white 1 4
Can Low brown 2 5
Can-GND green 3 1
GND yellow 4 3
+ Ub= 10-30 V red 8 2

Connectors (front view)

M12 Connector Axial Cable Exit (*)

MCD-XXXX-XXXX-XXXX-PAM MCD-XXXX-XXXX-XXXX-CAW

5 pin M12 connector male RJ45 Connector

(*) A RJ45 Connector is mounted on the cable end for the CAW version. This connector can be used for
test purposes also for custom installation. Do not connect to any Ethernet network, devices may be
damaged!

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Programmable Encoder - Parameters

Operating Parameters Includes the Complement or Direction parameter. This parameter defines if
the encoder increase or decrease the position value with a given direction of
shaft rotation.
Resolution per Revolution It is used to scale the encoder output value to required number of steps.

Total Resolution It is used to program the desired number of measuring units over the total
measuring range. This value may not exceed the total resolution of the
absolute rotary encoder. When used in continuous measuring applications,
certain specific rules (outlined in the encoder manual) for setting the
parameters have to be followed.

Preset Value The preset value is the desired position value, which should be reached at a
certain physical position of the axis. The position value is set to the desired
process value by the parameter pre-set.

Limit Switch, Minimum and maximum values can be programmed as limit switches. On
Min. and Max. reaching either of the positions, one bit of the 32-bit process value is set to
high.
Cam Eight position values can be programmed as cams. By reaching these
values bits in object 6300h Cam state register are set.

Programmable CAN Transmission Modes

Polled Mode It is a passive mode in which the encoder transmits the process values only
upon request. The current process value is requested by the connected host
through a remote transmission request telegram. When requested, the
encoder reads the current position values and according to the set
parameters, calculates the process value and sends it back through the
same identifier.
Cyclic Mode The absolute rotary encoder transmits the current process values at regular
time intervals, without being called by the host.. The cycle time can be
programmed in milliseconds ranging from 1 ms to 65536 ms.
Sync Mode After receiving a sync telegram from the host, the absolute rotary encoder
responds back with the current process value. If more than one node
(encoder) is evoked after receiving a sync telegram, the reply telegrams of
the nodes will be received by the host in order of their node numbers. The
programming of an offset-time is not necessary. If the node do not answer
after each sync telegram on the CAN network, the parameter sync counter
can be programmed to skip a certain number of Sync telegrams before
answering again.

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Mechanical Models
For detailed drawings please refer our website as drawing, IGES Drawing and STEP 3D Model under
mechanical drawings or contact us

Flange Types Housing and Connector Types

Synchro Flange Axial Cable Exit

MCD-XXXX-XXXX-S060-XXX MCD-XXXX-XXXX-XXXX-CAW

Blind Hollow Shaft M12 Connector

MCD-XXXX-XXXX-B060-XXX MCD-XXXX-XXXX-XXXX-PAM

Clamp Flange Axial Cable Exit with Gland

MCD-XXXX-XXXX-C100-XXX MCD-XXXX-XXXX-XXXX-GAW

All units measured in [mm]

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Models / Ordering Description

Description

Magnetocode MCD- __ 00 B - _ _ _ _- _ __ 0- ___

Interface and Version CANopen CA
CANopen lift (DSP417) CL
Current Version CA 00
CL 00
Code Binary
Bits for Revolutions Single turn 00
Multi turn (4096 turns) 12
Multi turn (32768 turns) 15
Steps per revolution 4096 12
Flange Synchro flange (6mm shaft diameter) S 06
Blind hollow shaft (6mm shaft diameter) B 06
58mm Clamping Flange (10mm shaft diameter) C 10
Shaft diameter 06 mm (Flange S and B)
10 mm (Flange C)
Mechanical options Without 0
Customized C
Connection Cable exit, axial 1m, moulded CAW
Cable exit, axial 1m, with cable gland GAW
Connector 5pol M12 PAM
Standard = bold, further models on request

Ordering example:
MCD-CA00B-1512-S060-CAW

Accessories

Article No Article Description

34050515 PAM5 Female cable connector M12x1 5pin A-coded for MCD-…-PAM
10001978 PAM5 2m Connecting cable PAM5 2m shielded for MCD-…-PAM

Disclaimer

© FRABA AG, all rights reserved. We do not assume responsibility for technical inaccuracies or omissions.
Specifications are subject to change without notice.

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