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GEL 2035 - Magnetic Absolute Rotary Encoder
Synchronous serial interface with heavy-duty clamping flange and clamping flange
CANopen interface with semi hollow shaftGeneral
- Magnetic absolute rotary encoder with a maximum total resolution of 24 bits in a compact design
- Wear-free electronic gear with a high-performance li-ion buffer battery
- Magneto-resistive scanning supplies unambiguous position values for every angular position via a synchronous serial interface or CANopen interface
Features
- Total resolution 24 bits
- Reset function via push-button or pin
- Interfaces:
- SSI or SSI and resolver
- CANopen - Flange variants: heavy-duty clamping flange, clamping flange with tooth wheel adapter, semi hollow shaft
- Protection class up to IP 69K
Advantages
- IP 69K variant also withstands aggressive media or high-pressure cleaner applications due to stainless steel housing with two-chamber system
- Heavy-duty clamping flange for high bearing loads
- Appropriate for all standard applications and also for real heavy-duty applications
Fields of application
- General mechanical engineering
- Regenerative energies
- Mobile machines
Description
Construction and design
The resilient encoder housing has a flange dimension of 58 mm and comprises anodised aluminium. The absolute rotary encoders in the series GEL 2035 are available with a clamping flange, heavy-duty clamping flange or clamping flange with tooth wheel adapter. A very compact redundant system is realised by combination with a resolver. The complete electrical isolation of the resolver from the magnetic absolute rotary encoder ensures true redundancy of the absolute position values. For integration into a CANopen network, the absolute rotary encoder GEL 2035 is available with a CANopen interface. This version is available in stainless steel as standard and is equipped with a semi hollow shaft. For use in extremely dusty, dirty or aggressive environments, the absolute rotary encoder GEL 2035 is available in an IP 69K variant. Compliance with protection class IP 69K is ensured by the robust stainless steel housing with radial cable gland and the two-chamber system.
Battery saving mode
In order to preserve the battery power, the encoder is delivered in battery saving mode. In this mode, the encoder is not active. Applying the power supply, activates the encoder which provides postion values. To extend battery life, this mode can be re-activated. In the following cases, activation of the saving mode is useful to save battery power:
- Long-term shutdown of the plant without voltage supply.
- Storage as spare part.
- IDisassembly of the encoder, followed by long-term stor-
age. - In case of a faulty encoder, before returning it to the fac-
tory. - Protection class up to IP 69K
You have two alternatives to activate the battery saving
mode:
1. Using the PRESET push-button
In de-energized state, push the PRESET push-button
for at least 0.1 s.
2. Using the PRESET input
In de-energized state, apply between PRESET input
and GND a voltage of 3 V to 30 V for at least 0.1 s.
In battery saving mode the encoder is disabled. After
switching on the power supply, the encoder provides the
adjusted PRESET value independent of the position of the
encoder shaft (→page 6). Electronic adjustment of the
encoder is required. For this reason, battery saving mode
is recommended only in the cases mentioned above.
Sensing principle
The multiturn absolute rotary encoders in the series GEL 2035 provide an unambiguous position value for each angular position with a resolution of up to 24 bits. The single turn and multiturn stage each operate with a resolution of 12 bit. The multiturn stage is based on an electronic gear. A buffer battery ensures the function of the absolute rotary encoder also in case of power failure. Even if the rotary encoder moves in de-energised state, the current position value is accurately output immediately after power is switched on.
Interfaces
The absolute rotary encoder supplies the position values either in binary or gray code via a fast synchronous serial interface (SSI) or as per encoder profile DS406 via a CANopen interface.
Temperature ranges
High precision SMD components are used in the absolute rotary encoder. Despite careful selection, thermal ageing of these components cannot be excluded. For this reason the encoder should be stored at a temperature from -40°C to +85°C. Operating temperatures of -40°C to +85°C are allowed, an installed absolute rotary encoder is not allowed to exceed this temperature range. The function of the absolute rotary encoder is ensured within the operating temperature range allowed, (DIN 32878); here it is the temperature at the encoder housing that applies. The temperature of the absolute rotary encoder is affected by the installation situation (thermal conductance, thermal radiation), the heating caused by the absolute rotary encoder (bearing friction, electrical power loss) and the ambient temperature. The operating temperature may be higher than the ambient temperature depending on the operation of the absolute rotary encoder. Depending on the supply voltage the heating caused by the encoder can be up to 10°C. At high operating speeds >5,000min-1 the heating caused by the encoder can be up to 20°C due to the bearing friction. If the absolute rotary encoder is operated close to the limits of the specifications allowed, the ambient temperature must be reduced by suitable means (cooling) such that the operating temperature range allowed is not exceeded.
Technical data
| General | |||
|---|---|---|---|
| Absolute accurary (DIN 32876) | 0.8° | ||
| Repeatability | < 0.01° | ||
| Step number per revolution | 4096 steps per revolution (12 Bit) | ||
| Numbers per revolution | 4096 revolution(12 Bit) | ||
| Electrical data | |||
| Operating voltage | 10 to 30 V DC with reverse voltage protection | ||
| Power consumption | 0,3 W, without load | ||
| Resolution single turn | 12 Bit | ||
| Resolution multiturn | 12 Bit (electronic gear) | ||
| Digital interfaces | SSI (Gray / binary) CANopen Encoder Profil DS406 |
||
| Analogue interface | Resolver signal | ||
| Mechanical data | |||
| Moment of inertia of rotor | 611.8 x 10-6 kgm2 | ||
| Material | Aluminium anodised, stainless steel |
||
| Weight single turn | Stainless steel: 450 g(1) | ||
| Weight multiturn | Aluminium: 300 g (SSI), 450 g (SSI+resolver) stainless steel: 600 g(2) | ||
| Operating speed (limit value) single turn | 12,000 min-1 | ||
| Operating speed (limit value) multiturn | 10,000 min-1,12,000 min-1(short-term) | ||
| Operating torque | < 3 Ncm | ||
| Bearing life cycle | > 105hat1000min -1 | ||
| Shaft sealing ring (optional) | Material: Viton, protections class IP 67 / IP 69K | ||
| Environmental data | |||
| Working temperature range | -40°C to +85°C | ||
| Operating temperature range | -40°C to +85°C | ||
| Storage temperature range | -40°C to +85°C | ||
| Protection class according to DIN 60529 | IP 67, IP 69K | ||
| Vibration resistance (DIN EN 60068-2-6) | 200 m/s2,10to2,000Hz | ||
| Shock protection (DIN EN 60068-2-27) | 2000 m/s2,11ms | ||
| EMC | EN 61000-6-1 to 4 | ||
| Insulation strength | Ri > 1 MΩ, at a testing voltage of 500 V AC | ||
| Relative humidity max. | 99 % | ||
| Condensation | permissible, according to DIN EN 60068-2-30 Part 2 of 1999 |
||
| Clamping flange | |||
| Shaft load (radial/axial) | 120 N / 90 N at 1000 min-1 | ||
| Heavy-duty flange | |||
| SShaft load (radial/axial) | 120 N / 90 N at 1000 min-1 | ||
| Semi hollow shaft | |||
| Shaft load (radial/axial) | 75 N / 70 N at 1000 min-1 | ||
Dimensional drawings
Dimensional drawing GEL 2035 SSI
Clamping flange with tooth wheel adapter
All dimensions stated in mm
Dimensions drawings
Dimensional drawing GEL 2035 SSI - with protection class IP 69K
All dimensions stated in mm
Dimensional drawings GEL 2035 - CANopen
All dimensions stated in mm
Synchronous serial interface
The synchronous serial interface transfers the position data at a clock frequency of up to 2 MHz. Prior to further position sampling, a minimum clock pulse space of 25 μs must be met.
Principle of the serial data transmission [gray code (25 bits), RS 422 / RS 485 standard]
f >40kHz
T Length of the clock signal period (= 1/clock frequency)
Tp Clock pulse space,
between the clock sequences TP At least 25 μs
Direction of rotation
The encoder can output increasing position values on the
clockwise or counter clockwise rotation of the shaft. The direction of rotation can be selected by using the CW/CCW
input (counting direction).
Cable length With the synchronous serial interface protocol the transmission rate allowed drops with increasing cable length. A screened, twisted pair cable is recommended for the signal cables (± CLOCK and ± DATA).
| Cable length [m] | < 50 | < 100 | < 200 | < 400 |
| Clock frequency [kHz] | < 400 | < 300 | < 200 | < 100 |
PRESET function
The output signals can be set to a PRESET value from any
position value. As supplied the encoder is set to half the
maximum resolution. The PRESET is set electronically if
the supply voltage UB
is briefly t > 100 ms applied to the
PRESET input (do NOT apply continuously). Other
PRESET values are available upon request.
As an alternative there is a PRESET push-button recessed
into the base of the housing (IP 67). The PRESET pushbutton can be operated using a pin ( t > 100 ms).
Synchronous serial interface
Pin layout - SSI (SD)
| PIN | Signal | Description |
| 1 | GND | Earth |
| 2 | DATA+ | Output: Differential data signal in accordance with RS 485 |
| 3 | CLOCK+ | Input: Differential clock signal in accordance with RS 485 |
| 4-6 | - | Not used |
| 7 | CW/CCW | Direction of rotation |
| 8 | UB | Operating voltage |
| 9 | Preset | Electronic adjustment UB , t > 100 ms |
| 10 | DATA- | Output: Differential data signal in accordance with RS 485 |
| 11 | CLOCK- | Input: Differential clock signal in accordance with RS 485 |
| Core colour | Signal | Description |
| blue | GND | Earth |
| brown | DATA+ | Output: Differential data signal in accordance with RS 485 |
| grey/pink | CLOCK+ | Input: Differential clock signal in accordance with RS 485 |
| grey | CW/CCW | Direction of rotation |
| red | UB | Operating voltage |
| pink | Preset | Electronic adjustment UB , t > 100 ms |
| white | DATA- | Output: Differential data signal in accordance with RS 485 |
| red/blue | CLOCK- | Input: Differential clock signal in accordance with RS 485 |
Synchronous serial interface
A resolver is integrated into the rotary encoder GEL 2035 SR. This supplies a redundant position signal within a turn.
R1, R2 Primary (rotor)
S1 to S4 Secondary (stator)
| Technical data of resolver | |
|---|---|
| Input voltage | 7 V rms |
| Primary | ER1-R2= Esinωt |
| Secondary | ES1-S3=KER1-R2 Cosθ, K = conversion ratio ES2-S4=KER1-R2 Sinθ |
| Input frequency | 10 kHz (max. permissible deviation ± 5 %) |
| Conversion ratio | 0.5 ± 5 % |
| Precision (measurement errors) | ± 10 |
| Zero potential | max. 20 mV rms |
| Phase separation | Nominally 0° |
| Speed ripple | max. 1.5 % at 1,500 min-1 |
| Insulation resistance | 100 M Ωat 500 V DC |
| Input current | max. 80 mA |
Pin layout - synchronous serial interface with resolver (SR)
| PIN | Signal | Description |
| 1 | R1 | Resolver signal |
| 2 | R2 | Resolver signal |
| 3 | S4 | Resolver signal |
| 4 | S3 | Resolver signal |
| 5 | CW/CCW | Direction of rotation |
| 6-7 | - | Not used |
| 8 | Clock- | Differential clock signal in accordance with RS 485 |
| 9 | Data- | Differential data signal in accordance with RS 485 |
| 10 | GND | Earth |
| 11 | UB | Operating voltage, |
| 12 | PRESET | Electronic adjustment UB ,t>100ms |
| 13 | S2 | Resolver signal |
| 14 | S1 | Resolver signal |
| 15 | Clock+ | Differential clock signal in accordance with RS 485 |
| 16 | Data+ | Differential data signal in accordance with RS 485 |
| 17 | - | Not used |
CANopen interface
Pin layout - CANopenA-coded
| Pin | Bus IN | Bus OUT |
| 1 | CAN_GND | CAN_GND |
| 2 | +VSIN | +VSOUT |
| 3 | GND | GND |
| 4 | CAN_H | CAN_H |
| 5 | CAN_L | CAN_L |
| Device profile | CANopen DS406 with additional function |
| Cable diameter | 8 mm |
| Programmable parameters | Resolution, PRESET, offset, counting direction, speed, acceleration and rotational speed output, range output referred to pre-defined values, scalable number of steps (decimal/binary) |
| Output code | Binary |
| Baud rate | 50 kbit/s ... 1 Mbit/s can be set via bus master |
| Sensor ID | 0 ... 99, can be set via bus master |
| Terminating resistor | To be provided externally |
| Operating temperature | -40 ... +85 °C (shorttime 100 °C) |
Type code
Type code GEL 2035
Type code restrictions
| Feature | Possible variant |
| Number of revolutions | 12 |
| Flange/shaft | B,G,H |
| Outlet | R |
| Connector/cable | S |
SSI and resolver (interface: SR)
| Feature | Possible variant |
| Number of revolutions | 12 |
| Flange/shaft | B |
| Outlet | F |
| Connector/cable | S |
| Feature | Possible variant |
| Number of revolutions | 00 (single turn only) |
| Flange/shaft | R |
| Outlet | B |
| Connector/cable | S |
Protection class IP 69K (IP: 5)
| Feature | Possible variant |
| Interface | SD |
| Number of revolutions | 12 |
| Flange/shaft | B |
| Outlet | C |
| Connector/cable | B,C,D,E |
Accessories
| Order no. | D | |
| POM | Brass | |
| RH 23501 | RH 23504 | 8 mm |
| RH 23502 | RH 23505 | 10 mm |
| RH 23503 | RH 23506 | 12 mm |
A Coupling half
B Involute annular gear
| d1(1) | d1(1) | d1/d2 | |
| KK 14 | 6 ... 16 | 6 ... 16 | 6/6; 8/8; 10/10;12/12; 16/16 |
(standard with semi hollow shaft)
MK 8 Material: X12CrNi18-8 (V2-A)
MK 12 Material: ST
| A | B | D | d1(1) | d1(1) | d1/d2 | |
| MK 8 | 35 | 5 | 21 | 5 ... 12 | 5 ... 12 | 6/6; 8/8; 10/10;12/12; 16/16 |
| MK 12 | 50 | 7 | 26 | 6 ... 15 | 6 ... 15 | 12/12 |
(3 pieces)
Accessories
Ordering overview for mounting accessories
| Description | Item number |
| Torque support, hard(*) | FB 23504 |
| Torque support, soft(*) | FB 23505 |
| Bushing, 8 mm, POM (polyoxymethylene) | RH 23501 |
| Bushing, 10 mm, POM (polyoxymethylene) | RH 23502 |
| Bushing, 12 mm, POM (polyoxymethylene) | RH 23503 |
| Bushing, 8 mm, brass | RH 23504 |
| Bushing, 10 mm, brass | RH 23505 |
| Bushing, 12 mm, brass | RH 23506 |
| Clamping elements (3 pieces) | KL 200 |
| Metal coupling, inside diameter: 5 to 12 mm (state shaft diameter) | MK 8 |
| Metal coupling, inside diameter: 6 to 15 mm (state shaft diameter) | MK 12 |
| Clamp coupling KK14, inside diameter: 6 to 16 mm (state shaft diameter) | KK 14 |
| (*)The GEL 2035 with semi hollow shaft is supplied as standard with a soft torque support FB 23505 mounted. If the alternative torque support FB 23504 is to be mounted, it must be stated on the order. | |
Ordering overview for connection accessories
| Description | Item number |
| M23 mating connector, 12-pin straight | GG 126 |
| M23 mating connector, 17-pin straight | FS 11311 |
| CANopen mating connector, M12, 5-pin socket , A-coded | FS 3020 |
| CANopen, mating connector, M12, 5-pin plug, A-coded | FS 3021 |
| CANopen connection cable 10 m, 5-pin plug / flying lead with ferrules | BK 2100 |
| CANopen connection cable 2 m, 5-pin plug / flying lead with ferrules | BK 2101 |
| CANopen connection cable 10 m, 5-pin socket / flying lead with ferrules | BK 2102 |
| CANopen connection cable 2 m, 5-pin plug / flying lead with ferrules | BK 2103 |
| CANopen connecting cable 10 m, 5-pin socket/plug | BK 2104 |
| CANopen connecting cable 10 m, 5-pin socket/plug | BK 2105 |
| CANopen terminating resistor M12 | FS 3040 |