Absolute Rotary Encoder

with Modbus/TCP Interface

User manual

Scancon A/S, Tranevang 1, DK-3450 Alleroed, Denmark

Tlf: +45 48172702 Fax: +45 48172284
[Link] , info@[Link]

Imprint
POSITAL GmbH
Carlswerkstrasse 13c
51063 Kln
Phone
+49/221/96213-0
Internet
Fax

[Link]
+49/221/96213-20

e-mail

info@[Link]

Alteration of Specifications reserved

Technical specifications, which are described in
this manual, are subject to change due to our
permanent strive to improve our products.
Document information
File name:
UME-OCD-EM
Date:
February 2008
Version number:
1.2
Author:
Reiner Btjer

Copyright

Service-Phone

The company POSITAL claims copyright on this

documentation. It is not allowed to modify, to
extend, to hand over to a third party and to copy
this documentation without written approval by the
company POSITAL. Nor is any liability assumed for
damages resulting from the use of the information
contained herein. Further, this publication and
features described herein are subject to change
without notice.

For technical support, questions and suggestions

for improving our products and documentations call
our telephone line: +49/221/96213-0

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Page 2

1 Introduction ....................................................... 4
1.1 Absolute Rotary Encoders ............................... 4

5.6.3 Encoder answers ........................................ 20

6 Technical Data ................................................ 20

1.2 Ethernet ........................................................... 5

6.1 Electrical Data................................................ 20

1.3 TCP/IP ............................................................. 5

6.2 Mechanical Data ............................................ 21

1.4 Modbus/TCP .................................................... 5

2 Hardware set-up and Ethernet Connection .... 7

6.3 Minimum (mechanical) lifetime ...................... 21

2.1 Network Topology ............................................ 7

6.4 Environmental Conditions .............................. 21

7 Mechanical Drawings ..................................... 22

2.2 Connecting an Absolute Encoder..................... 8

7.1 Synchro Flange (S) ........................................ 22

2.3 Ethernet Cables ............................................... 8

7.2 Clamp Flange (F)........................................... 22

2.3.1 RJ45 M12 crossed ..................................... 8

7.3 Hollow shaft (B) ............................................. 23

2.3.2 RJ45 M12 straight ...................................... 8

2.3.3 M12 M12 crossed ...................................... 8
2.4 Diagnostic LEDs.............................................. 9
3 Data transmission........................................... 10

8 Models / Ordering Description....................... 24

9 Accessories and Documentation .................. 25
10 Glossary ........................................................ 25

3.1 Values ............................................................ 10

3.2 Format ........................................................... 10
3.3 Function code 03 ........................................... 10
3.4 Function code 16 ........................................... 10
3.5 Modbus Mapping ........................................... 11
4 Programming................................................... 12
4.1 Programming of Parameters .......................... 12
4.2 Operating by the integrated Web Server........ 13
4.3 E-mail and Network Configuration ................. 14
5 Operating by TCP/IP Commands................... 15
5.1 Introduction .................................................... 15
5.2 Installation...................................................... 15
5.3 PATH Variable ............................................... 15
5.3.1 MS-DOS, Win95, Win98, WinME................ 15
5.3.2 WinNT3.51, WinNT4, Win2000, WinXP ...... 16
5.4 Operating ....................................................... 16
5.5 Advanced functionality ................................... 16
5.6 Parameters .................................................... 17
5.6.1 Commands.................................................. 17
5.6.2 Variables ..................................................... 18

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Page 3

1 Introduction
1.1 Absolute Rotary Encoders
Absolute rotary encoders provide a definite value
for every possible rotary position. All these values
are reflected on one or more code discs. The
beams of infrared LEDs are sent through the code
discs and detected by Opto-Arrays. The output
signals are electronically amplified and the
resulting value is transferred to the interface.
The absolute rotary encoder has a maximum
resolution of 65,536 steps per revolution (16 Bit).
The Multi-Turn version can detect up to 16,384
revolutions (14 Bit). Therefore the largest resulting
resolution is 30 Bit = 230 = 1,073,741,824 steps.
The standard Single-Turn version has 13 Bit, the
standard Multi-Turn version 25 Bit.
The encoder sends the data in binary code via
standard or fast Ethernet (10 Base T, 100 Base T).
At present it supports the following international
standardized protocols: TCP, IP (http and SMTP in
version A1).

The encoder is able to provide three different kinds

of output data: the position value, a velocity value
and a time stamp. These can be use in arbitrary
combinations for TCP transmitting.
The following functions of the absolute rotary
encoder can be programmed directly via the
Ethernet connection:
Used scope of physical resolution
-

Total scaled resolution

Preset value
Code sequence (Complement)

There is no specific software required for version

A1 to initiate and use the absolute rotary encoder
because the sensor can be read out and
programmed by any standard web browser. For
this purpose the absolute rotary encoder contains
a web server, which provides HTML documents
with embedded Java applets. These documents
are a widely self-explanatory graphical user
interface (GUI) that is described in detail in chapter
4.2. The automated data transfer with a control
system is done with TCP/IP by simple plain text
commands and data in ASCII format.
The encoder supports the communication with
Modbus/TCP-PLCs and IPCs. With function
code 03 can you read out data. Function code 16
allow to set the parameters. More details see in
chapter 3.4.

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Page 4

1.2 Ethernet
The present developments in the field of Industrial
Ethernet are based on the vision of an integrated
access of all data of a company through a uniform
communication system. In higher levels of
enterprise communication Ethernet is the main
medium of data transfers. Combined with other IT
technologies it is internationally standardized. In
the long run automation engineers will benefit from
the rapid technological progress in the mass
markets of IT and web technologies.
Ethernet technically provides a system with higher
data transfer rates than common field bus systems.
TCP/IP and UDP do have a statistical access
method to access the medium thereby prohibiting
determined response times. Many developments
are intensely done on additional real time
mechanisms, e.g. Ethernet Powerlink, Ethernet/IP,
Profinet or EtherCat. However, you can already get
access times that are sufficient for many
applications when using TCP/IP or UDP. If you
directly connect the absolute encoder to a
computer via a 100 Mbit network card, you will get
a cycle time of less than 2 ms. In huge networks
the cycle times will depend on the utilization of the
network.

1.3 TCP/IP
Even though Ethernet and TCP/IP are often used
together and sometimes used interchanged, these
are three different kinds of terms and you should
carefully separate them. The coherences are
based on the ISO/OSI reference model after
ISO/IEC 7498 that is needed to basically
understand these terms.

The IP protocol of layer 3 was developed in the

70s by the US military (MIL-STD 1777). It allows a
universal addressing independent of the hardware
involved in heterogeneous networks. It also
manages the transfer of large packets by splitting
them up into smaller packets. The well-known TCP
protocol (MIL-STD 1778) ensures a reliable data
transfer.
Http (RFC 2068) and SMTP (MIL-STD 1781)
belong to layer 7 of the OSI model and allow to
transfer data and documents via web browser or to
send e-mails.
1.4 Modbus/TCP
MODBUS is an application layer messaging
protocol, positioned on level 7 of the OSI model,
that provides client/server communication between
devices connected on different types of buses or
networks.
As an industrys standard since 1979, MODBUS
continues to enable millions of automation devices
to communicate. Today, support for the simple and
elegant structure of MODBUS continues to grow.
The Internet community can access MODBUS at a
reserved system port 502 on the TCP/IP stack.
MODBUS is a request/reply protocol and offers
services specified by function codes.
MODBUS function codes are elements of
MODBUS request/reply PDUs. The objective of
this document is to describe the function codes
used within the framework of MODBUS
transactions.
MODBUS is an application layer messaging
protocol for clients.
For more informations see [Link].

Ethernet only describes layer 1 and 2 in this model,

nevertheless the term is often used in error in
engineering as description of all layers between 1
and 7.

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Page 5

1.5 OSI-Modell
Layer
7

Application
Layer

Modbus

Mapping Layer

Modbus <-> TCP

Transport Layer

TCP

Network Layer

IP

Ethernet Mac
Layer

IEEE 802.3

Physical Layer

Application

5
Data transport

Cable

1.6 MODBUS frame

Transaction
identification

MODBUS
Frame

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Lenght

Protocol
identification

Adress

TCP
Frame

MODBUS
Frame

Function
Code

Data

Page 6

2 Hardware set-up and Ethernet Connection

2.1 Network Topology
Using Ethernet there are different kinds of
topologies possible. The connection of the encoder
can be made both directly to the computer with a
network card or indirectly with a switch, hub or
company network, see figure below. If you use a
direct connection to a computer without network
components in between, you need to use a

cat 5 crossover cable

standard, straight network cable (not a crossover

cable). You need at least a cable of category 5 to
get a data transfer rate up to 100 Mbit. If there is a
network component in the network, which does not
provide Fast Ethernet, the sensor will automatically
switch down to 10 Mbit.

cat 5 cable

Cat 5 cable

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Page 7

2.2 Connecting an Absolute Encoder

The encoder is connected by a 5 pin M12
connector for the power supply and one 4 pin,
D-coded M12 connector for Ethernet.

Connector Ethernet
4 pin female, D-coded

Connector power supply

5 pin male, A-coded

Pin Number

Signal

Pin Number

Signal

Tx +

+24 V

Rx +

+24 V

Tx -

0V

Rx -

0V

PE

Sketch on encoder view

3
5

2.3 Ethernet Cables

2.3.1 RJ45 M12 crossed
Signal
RJ45 Pin M12 Pin

Signal

Signal

M12 Pin

M12 Pin

Signal

Tx+

Rx+

Tx+

Rx+

Tx-

Rx-

Tx-

Rx-

Rx+

Tx+

Rx+

Tx+

Rx-

Tx-

Rx-

Tx-

2.3.3 M12 M12 crossed

2.3.2 RJ45 M12 straight

Signal
RJ45 Pin M12 Pin

Signal

Tx+

Tx+

Tx-

Tx-

Rx+

Rx+

Rx-

Rx-

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2.4 Diagnostic LEDs

LED

Color

Description for LED = on

Rx1

Yellow

Incoming and
traffic for port 1

Link1

Green

Link to another Ethernet

component for port 1

Collosion1 *

Red

Ethernet collisions on the

bus for port 1

Rx2 *

Yellow

Incoming and
traffic for port 2

Link2 *

Green

Link to another Ethernet

component for port 2

Collosion2 *

Red

Ethernet collisions on the

bus for port 2

Error *

Red

Run *
Green
* Not available

outgoing

outgoing

Ethernet
TCP/IP
Err
Run

Rx2
Link2
Col2

Rx1
Col1
Link1

PWR

Port 1
Port 2

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3 Data transmission
3.1 Values
Position values, velocity and a time stamp are
provided.
3.2 Format
Data type

Sign

Position

32 bit integer

unsigned

Velocity

32 bit integer

signed

Time stamp

64 bit integer

unsigned

3.3 Function code 03

03 (0x03) Read Holding Registers
This function code is used to read the contents
of a contiguous block of holding registers in a
remote device. The Request PDU specifies the
starting register address and the number of
registers. In the PDU Registers are addressed
starting at zero. Therefore registers numbered
i.e. 1-8 are addressed as 0-7.
The register data in the response message are
packed as two bytes per register, with the binary
contents right justified within each byte. For each

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register, the first byte contains the high order bits

and the second contains the low order bits. The
Error check in ADU is for Modbus/TCP not
available, because TCP use a Error check. For
details see [Link].
3.4 Function code 16
16 (0x10) Write Multiple registers
This function code is used to write a block of
contiguous registers in a remote device. The
requested written values are specified in the
request data field. Data is packed as two bytes
per register. The normal response returns the
function code, starting address, and quantity of
registers written.
Please take care under all circum-stances
that the encoder is not turned off while it is
writing to the flash !

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3.5 Modbus Mapping

Startadress: 0000
Number of registers: 8
Register

Data type

Data

Position

Bit 17-32

Bit 1-16

Velocity

Bit 17-32

Bit 1-16

Time stamp

Bit 49-64

Bit 33-48

Bit 17-32

Bit 1-16

Not in use

Not in use

10

UsedScopeOfPhysRes Bit 17-32

11

Bit 1-16

12

TotalScaledRes

Bit 17-32

13

Bit 1-16

14

Preset

Bit 17-32

15

Bit 1-16

16

Offset

Bit 17-32

17

Bit 1-16

18

CountingDir
CW = 0
CCW = 1

19

Bit 1-16

Bit 17-32

Register 10 to 18 are only in use to send the

parameters to the encoder.
Notify:

The write registers will not get a update

with changed parameters from the Web
applet or TCP commands.
The velocity value can be wrong during
setting some parameters

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4 Programming
4.1 Programming of Parameters
The encoder is able to provide three different kinds of output data: the position value, a velocity value and
a time stamp. These can be used in arbitrary combinations.
Parameter

Description

Used scope of physical resolution Specifies the part of the physical resolution used for the encoder in
(parameter 1.)
physical steps. If e.g. for an encoder with a resolution of 8192 steps
per revolution 16384 is chosen, the encoder will count 8192 steps
per revolution (if Total scaled resolution is set to the same value as
Used scope of physical resolution) and start with zero again after 2
revolutions. If this value is not set to a value which results in an
integer division with the total physical resolution, the encoder value
will jump to zero when passing the physical zero point.
Total scaled resolution
(parameter 2.)

Specifies the scaled resolution which is used over the area of

physical steps defined by Used scope of physical resolution. If e.g.
the encoder is set as described above and Total scaled resolution
is set to 10, the encoder will count 10 steps over the physical steps
defined with Used scope of physical resolution, i.e. 5 steps per
revolution.

Code sequence

The code sequence (complement) can be programmed as an

operating parameter. This parameter determines whether the output
code increases or decreases when the axis is turned clockwise.

Preset value

The preset value is the desired output value for the actual position of
the axis. The actual output value will be set to this preset value.

Offset value

The offset value can set the offset to physical position of the axis.

The html page, the programmable parameters, and the diagnostics of the encoder are described in the
next chapter.
Max. physical
position value

Max. needed
position value
(parameter 2.)

Wanted zero
crossing
(parameter 1.)
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Physical zero
crossing
Page 12

4.2 Operating by the integrated Web Server

The absolute rotary encoder can be addressed

page, will open a html page showing all available

by any web browser (e.g. Netscape, Internet

commands (Information about Commands) or

Explorer, Opera, etc.). Please enter the IP

the page to configure the network settings.

address of the encoder in the address field of

Chapter 5 describes these commands in more

the browser. The factory setting for the IP

detail.

address is [Link]. Chapter 4.3 will deal

To read, for example, the position value

with changing the IP address.

continuously please set the desired cycle time

and choose the cyclic mode. Each command to

If the encoder has built up a connection to the

the encoder and messages from the encoder are

browser, you can see its start page. To be able

logged in the encoder message window.

to parameterize the encoder

please open the page Main Controller Site (see
image below). The other links on the starting

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Page 13

4.3 E-mail and Network Configuration

The rotary encoder can be used either with the
wired IP [Link] or the software IP address
which can be programmed. A switch to choose
either option is located in the connection cap. If
the switch 2 is in position off, the
programmable IP has been chosen. Both Hex
rotary switches and switch 1 are not in use for
this encoder. The configuration window can be
accessed via the Main Controller Site or the
start page.

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Page 14

5 Operating by TCP/IP Commands

5.1 Introduction
To use the absolute encoder with a control system
platform independent commands and data in ASCII
format can be exchanged by TCP/IP. To take a
look at the commands and a short description
please see chapter 5.6. To find out how to address
the TCP/IP interface of your control or operating
system please refer to the documentation for these
devices

standard gateway. The default IP address of the

sensor is [Link]. You can check the
connection to the sensor with the command ping
<IP-sensor>.
5.2 Installation
To communicate with the Encoder using our
example tools tcpcl or updcl, a Java runtime
environment is required on your PC. If you have
not installed Java, you can get it from our CD (look
under the section accessories). You can also
download
the
latest
version
from
[Link]
Copy
the
FRABA-Java programs which you can find on web
site
[Link]
luteEncoders/AbsoluteEncoders_OCD_IndustrialEt
hernet_TCP_IP_base.html onto your hard disk, e.g.
in the folder c:\fraba\ethernet.
Afterwards you need to set up the PATH variable
for the Java installation and the FRABA-Java
programs. For a convenient start we also provided
batch files to start the java files, depending on the
IP addresses you might need to modify them. For
TCP will be used port 6000.

If you use a Windows PC, you can try the following

connection to the sensor: Go to the command
prompt (DOS) and type in ping <computer-name>
or ipconfig. In response you get the IP address of
your computer. If the encoder IP address is not
located within your subnet mask, you will need to
prepare the data transfer to the encoder by
entering the command route add <IP-sensor> <IPcomputer>. Maybe are administrator rights
necessary. Otherwise your PC/control system will
try to reach the encoder via your computers

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5.3 PATH Variable

5.3.1 MS-DOS, Win95, Win98, WinME
Please add the required paths to c:\[Link]
behind the Path line. Example:
Path=c:\ms-dos; c:\Program Files\BC\BIN
Path=%Path%;c:\fraba\ethernet\
Path=%Path%;c:\programme\java\bin

Page 15

5.3.2 WinNT3.51, WinNT4, Win2000, WinXP

In Start Settings Control panel System
Advanced Environment Variables you can
configure the variable Path. Please do not
change the other path settings, but only add the

required paths! Depending on the operating

system used administrator rights might be
necessary.

5.4 Operating
After starting the batch file TCP_10101010.bat
the connection to the encoder will be built up.
Once you are connected, you can try e.g. read
offset (please note space) to read out the
calculated offset from the encoder. You can see
all available commands in the next chapter.

5.5 Advanced functionality

In the subdirectory "advanced" in the Zip-file
Software Tools there is a version of the TCPclient with enhanced functionality:
the time from the command till the encoder
issues an answer can be measured in steps
of 10 ms. This can be switched on/off using
time / notime.
the binary values transmitted by the encoder
can be transferred to ASCII again, if it does

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If the encoder is running in cyclic mode, you can

see position values coming continuously from
the encoder. You can enter a command anyway,
although your input will be overwritten by new
position values, the command will still be sent
once you press enter.
The Java program can be finished with CTRL-C.

not contain \0 or \n. This can be switched

by binary / ASCII, it will be automatically
switched when the encoder is switched
from/to binary mode.
Scrolling of the output can be turned on/off
via scroll / noscroll
'new' renews the connection to the encoder
'exit' will close the TCPClient application

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5.6 Parameters
5.6.1 Commands
Important: Please note spaces, upper and
lower case! <Value> means the parameter to
enter. All commands and parameters have to be
entered in one line and started with <ENTER>.

Value means the output value. You can

change and read the settings of the encoder by
using the following commands:

Commands

Remarks

Run!

This command will order the encoder to send a position value, regardless
of the time mode.

set <Variable>=<Value>

This command will set a variable to a given value. If successful, the

encoder will answer in the form <Variable>=<Value>, else an error
message will be issued. All variables/modes are stored in the internal flash
a few seconds after they were set.
After the value was saved, the message "Parameters successfully written!"
is issued to all connected TCP-Clients. If the encoder is turned off while
writing to the flash, the process can damage the flash and destroy the
encoder program.
Please take care under all circumstances that the encoder is not turned off
while it is writing to the flash !

read <Variable>

This command will read out a variable from the encoder. The encoder will
answer in the form <Variable>=<Value>.

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5.6.2 Variables
Variables
UsedScopeOfPhysRes

Remarks / Values
Specifies the part of the physical resolution used for the encoder in physical
steps. If e.g. for an encoder with a resolution of 8192 steps per revolution
16384 is chosen, the encoder will count 8192 steps per revolution (if
TotalScaledRes is set to the same value as UsedScopeOfPhysRes) and
start with zero again after 2 revolutions. If this value is not set to a value
which results in an integer division with the total physical resolution, the
encoder value will jump to zero when passing the physical zero point.
Default value: Physical resolution of the type label. I.e. 4096 resolutions x
8192 steps per revolution = 33,554,432

TotalScaledRes

Specifies the scaled resolution which is used over the area of physical
steps defined by UsedScopeOfPhysRes. If e.g. the encoder is set as
described above and TotalScaledRes is set to 10, the encoder will count 10
steps over the physical steps defined with UsedScopeOfPhysRes, i.e. 5
steps per revolution. Default value: Physical resolution of the type label. I.e.
4096 resolutions x 8192 steps per revolution = 33,554,432

CountingDir

Specifies the direction to turn the axis which is associated with higher
values.

CW: denotes that clockwise turning will increase the position value

CCW: denotes that counterclockwise turning will increase the position

value

Preset

When the preset is set, an internal offset will be calculated, which will be
saved and added to all position values afterwards. The value given for the
preset denotes the position value the encoder will show at the point where
the preset was set.

Offset

This variable makes it possible to directly change the offset calculated and
set by the preset function.

TimeMode

Possible time modes are:

polled: Encoder will only send output values if asked to do by "Run!"

cyclic: Encoder will send output values after time specified by

CycleTime.

change of state: The Encoder will send the output values only if either
the position or the velocity has changed. The values are checked
every 5 ms to reduce unwanted network traffic

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Page 18

Variables

Remarks / Values

OutputMode

Possible output modes are:

[Position_][Velocity_][Timestamp_]
where the components mean:

Position: Encoder will send a scaled Position value.

Velocity: Encoder will send a velocity Value (steps/s).

Timestamp: Encoder will send a timestamp in microseconds, starting

with 0 at the startup of the encoder. As the counter is a 32 Bit value, the
timestamp will reach zero again after approx. 1.2 hours. This variable has
got no effect to the Modbus communication.

OutputType

Possible output types are:

ASCII: Encoder will send ASCII-letters in the form

"POSITION=<POSITION> VELOCITY=<VELOCITY>
TIMESTAMP=<TIME>"

ASCII_SHORT: Encoder will send ASCII-numbers in the form

"<POSITION> <VELOCITY> <TIME>", separated by spaces

BINARY: Encoder will send 32 bit binary values without any separator
between the values.
This variable has got no effect to the Modbus communication.
CycleTime

States the time in ms for the cyclic time mode. Can have values between
1 ms and 999,999 ms. This variable has got no effect to the Modbus
communication.

IP

Sets the IP-address of the encoder and must be a valid IP-address in the
form a.b.c.d, with a, b, c, d from 0 to 255.
Attention: The IP-address will only be activated after a new power-up when
switch 2 is in position off.

NetMask

The net mask used by the encoder. Please take care that Encoder and
PLC/PC are within the same subnet or specify a working gateway.

Gateway

Gateway to be used by the encoder, if own IP-address and destination

IP-address are not within the same subnet specified by the net mask.

OwnEmailAddr

The email-address given as the sender in emails from the encoder.

RmtEmailAddr

The email address emails will be send to.

SMTPServerIP

The IP-address of the SMTP-server which the encoder will send the email
by.

Verbose

Level of information output for tracer (0 = only errors, 1 = errors and

warnings, 2 = errors, warnings and clues)

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Page 19

5.6.3 Encoder answers

Encoder answers

Remarks

<Variable>=<Value>

If a variable was correctly set, the encoder will answer to all connected
TCP-clients with the variable and its new value. This indicates that the
Encoder understood the command and now uses the value, it does not
indicate that the value was already save to the internal Flash, please allow
some additional seconds for that.

ERROR: ...

If something went wrong, the encoder will issue an error, e.g. if it did not
understand a command or if a value for a variable was not correct. It will
describe the error after the "ERROR:" tag.

WARNING: ...

If a variable was set to a value, which is permitted, but which may result in
problems when certain conditions occur, the encoder will issue a warning.
This could for example happen, if the variable UsedScopeOfPhysRes is set
to a value which does not result in an integer division with the physical
resolution of the encoder when dividing the total physical resolution of the
encoder. The reason for the warning will be sent following the "WARNING:"
tag.

Parameters successfully
written!

If any variable was set, it is important to wait until the encoder displays this
message before the encoder can be turned off, otherwise the internal flash
might be damaged.

6 Technical Data
6.1 Electrical Data
Supply voltage

10 - 30 V DC (absolute limits)

Power consumption

max. 4 Watt

EMC

Emitted interference: EN 61000-6-4

Noise immunity:

EN 61000-6-2

Bus connection

Ethernet

Transmission rate

10/100 MBit

Accuracy of division

LSB (up to 12 Bit), 2 LSB (up to16 Bit)

Step frequency LSB

Max. 800kHz (valid code)

Response time

> 2 ms for MODBUS/TCP

Electrical lifetime

> 105 h

Device addressing

Programmable IP-Address and Network parameters

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Page 20

6.2 Mechanical Data

Housing

Aluminum, optional stainless steel

Lifetime

Dependent on shaft version and shaft loading refer to table

Max. shaft loading

Axial 40 N, radial 110 N

Inertia of rotor

30 gcm2

Friction torque

3 Ncm (without shaft sealing)

RPM (continuous operation)

max. 12,000 RPM

Shock (EN 60068-2-27)

30 g (half sine, 11 ms)

Permanent shock (EN 60028-2-29)

10 g (half sine, 16 ms)

Vibration (EN 60068-2-6)

10 g (10 Hz ... 1,000 Hz)

Weight (standard version)

Singleturn:

500 g

Multiturn:

700 g

Flange

Synchro (S)

Clamp (C)

Hollow shaft (B)

Shaft diameter

6 mm

10 mm

10 mm

15 mm

Shaft length

10 mm

20mm

20 mm

15 mm / 30 mm

hollow shaft depth min. / max.

6.3 Minimum (mechanical) lifetime

Lifetime in 108 revolutions with Fa / Fr

Flange

40 N / 60 N

40 N / 80 N

40 N / 110 N

C10 (Clamp flange 10 x 20)

247

104

40

S10 (Synchro flange 10 x 20)

262

110

42

S6 (Synchro flange 6 x 10) without shaft sealing

822

347

133

S6 (Synchro flange 6 x 10) with shaft sealing: max. 20 N axial, 80 N radial

6.4 Environmental Conditions

Operating temperature

0 .. +60C

Storage temperature

- 40 .. + 85 C

Humidity

98 % (without liquid state)

Protection class (EN 60529)

Casing side: IP 65
Shaft side: IP 64 (optional with shaft sealing: IP66)

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Page 21

7 Mechanical Drawings
7.1 Synchro Flange (S)
available in 2 versions

Synchro flange

d / mm

l / mm

Version S06

6f6

10

Version S10

10h8

20

7.2 Clamp Flange (F)

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7.3 Hollow shaft (B)

Mounting instructions
The clamp ring should only be tightened after
the shaft of the driving element was inserted into
the hollow shaft.
The diameter of the hollow shaft can be reduced
to 14mm, 12 mm, 11 mm, 10 mm or 8 mm by
using an adapter (this reducing adapter can be
pushed into the hollow shaft).

Version 02/08

Maximum radial and axial misalignment of the

drive shaft::
axial

radial

static

0.3 mm

0.5 mm

dynamic

0.1 mm

0.2 mm

Page 23

8 Models / Ordering Description

Description

Type Key

Optocode
Interface
Version
Code
Revolutions (Bits)

EM
__ B- __
SAGEthernet
EM
2xM12
00
Binary
B
Singleturn
00
Multiturn (4,096 revolutions)
12
Multiturn (16,384 revolutions)
14
8,192
65,536
Clamp flange, full shaft:
10 mm

Steps per
revolution
Flange /
Shaft diameter

Synchro flange, full shaft:

Blind hollow shaft, hollow shaft :

Mechanical
options
Connection

Without
Shaft sealing (IP66)
Customized
M12 connector

6 mm
10 mm
15 mm

__-

___

_-

PRM

13
16
C10
S06
S10
B15
0
S
C
PRM

Standard = bold, further models on request

Version 02/08

Page 24

9 Accessories and Documentation

Description

Type

Male cable connector

M12, 4 pin, D-Coded

PAM4

Female cable connector

M12, 5 pin

PAM5

Coupling *

Drilling: 10 mm

GS 10

Drilling: 6 mm

GS 06

Clamp disc *

Set = 4 pcs.

SP 15

Clamp half-ring *

Set = 2 pcs.

SP H

Reducing adapter **

15 mm to 14 mm

RR14

15 mm to 12 mm

RR12

15 mm to 11 mm

RR11

15 mm to 10 mm

RR10

15 mm to 8 mm

RR8

User manual *

Installation / configuration manual, English UME-OCD-EM00

User manual *

Installation / configuration manual, German UMD-OCD-EM00

These can be downloaded free of charge from our homepage [Link]

**

usable only for full shaft

*** usable only for hollow shaft, in stainless steel available too
We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject
to change without notice.

10 Glossary
Term

Explanation

10 Base T

Transmission line with 10 Mbit data transmission rate

100 Base T

Transmission line with 100 Mbit data transmission rate

ADU

Application Data Unit

ASCII

American Standard Code for Information Interchange

ASCII describes as code the correlation from digital integers to a normal
font described character.

Batch file

Script program for MS-DOS

Baudrate

Transmission rate; it display the transmission bits per second

Binary

Numeric system with value 0 or 1.

Browser

Software program to display HTML-Sides on different operating systems

(Linux, Unix, Windows, ...)

CAT5

Terminations for transmission rates up to 100 Mbit.

CRC

The cyclic redundancy check is a method from the information

technology to control a checksum for data, to reduce errors by the
transmission.

EMC

Electromagnetic compatibility, there are rules to verifying devices.

Ethernet

Ethernet is a computer network technology based on frames.

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Page 25

Term

Explanation

Fast Ethernet

Transmission technology with 100 Mbit transmission rate.

FCS-Bytes

The Frame Check Sequenz-Bytes are a 32 Bit CRC-Checksum.

Flash

Internal memory, saved data will be available after power down.

HTML

The Hypertext Markup Language is a document format used in the

World Wide Web to be displayed by a browser

HTTP

The Hypertext Transfer Protocol is a stateless transmission protocol for

data transmission.

Hub

The hub connects different network segments e.g. in an Ethernet

network.

IP-Adresse

IP-address allow a logic addressing from computer in a network.

IP-Protokoll

The Internet Protocol is widespread in computer networks. It is the

implementation of the internet layer of the TCP/IP-model

MODBUS

Is an application layer messaging protocol, positioned at level 7 of the

OSI model, that provides client/server communication between devices
connected on different types of buses or networks.

MODBUS/TCP

The Internet community can access MODBUS at a reserved system port

502 on the TCP/IP stack.

Mbit

Transmission rate or baud rate, million bits per second

SAG

Acronym: SAG, name of an encoder series manufactured by scancon

OSI-Modell

The Open System Interconnection reference model is a open layer

model for the organisation of a communication.

PDU

Protocol Data Unit

PPP-Packet

The Point-to-Point Protocol will be need for a connection establishment.

It enables the transmission between different network protocols.

SMTP

Simple Mail Transfer Protocol managed the transmission of e-mails.

Switch

A switch is an electronic device to connect computers e.g. network

segments in a local network. Unlike a hub, a switch uses stacks to avoid
network collisions.

TCP

The Transmission Control Protocol is a connection orientated

transmission protocol, in a network.

TCP-Client

MS-DOS program available from scancon to communicate with the

encoder.

UDP

User Datagram Protocol is utilized to send data that does not need to be
transferred in a reliable way.

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