Siemens Encoder

Motion control encoders are optoelectronic built-on encoders that detect the traversing distances, angles of rotation, speeds or positions of machine axes.

Incremental encoders

Siemens

Incremental encoders detect relative movement and deliver a defined number of electrical pulses per revolution, which represent the measurement of the traveled distance or angle.

Incremental encoders operate on the principle of optoelectronic scanning of dividing discs with the transmitted light principle. The light source is a light emitting diode (LED). The light-dark modulation generated as the encoder shaft rotates is picked up by photoelectronic elements. With an appropriate arrangement of the line pattern on the dividing disk connected to the shaft and the fixed aperture, the photoelectronic elements provide two trace signals A and B at 90° to one another, as well as a reference signal R. The encoder electronics amplify these signals and convert them to different output levels.

The following signal levels are available for the incremental encoders:

Signal level

Benefits

Analog signals sin/cos with level 1 Vpp

The analog signal allows the digitization of the trace signals. In order to obtain a fine resolution, the signals are interpolated in the higher-level controller.

RS422 differential signals (TTL)

The resolution can be quadrupled by means of edge evaluation.

HTL (High Voltage Transistor Logic)

Built-on encoders with an HTL interface are designed for applications with digital inputs with a 24 V level. The resolution can be quadrupled by means of edge evaluation.

Article No.

 

6FX2001-3….

6FX2001-2….

6FX2001-4…0

Product name

 

Motion Control encoder

Motion Control encoder

Motion Control encoder

Product designation

 

Incremental encoder
with sin/cos 1 Vpp

Incremental encoder
with RS422 (TTL)

Incremental encoder
with HTL

Operating voltage DC
Vp on encoder

V

5 ± 10 %

5 ± 10 %
or
10 … 30

10 … 30

Limit frequency, typical

kHz

≥ 180 (- 3 dB)
≥ 450 (- 6 dB)

Scanning frequency, maximum

kHz

300

300

No-load current consumption, maximum

mA

150

150

150

Resolution, maximum

S/R

2500

5000

2500

Signal level

 

Sinusoidal 1 Vpp

RS422 (TTL)

V
H ≥ 21 V
with IH = 20 mA at 24 V
VL ≤ 2.8 V
with IL = 20 mA at 24 V

Outputs protected against short-circuit to 0 V

 

Yes
Briefly

Yes

Yes
Briefly

Switching time (10 … 90 %)
rise/fall time t+/t
(for 1 m (3.28 ft) cable and recommended input circuit)

ns

≤ 50

≤ 200

Phase angle, signal A to B
Edge spacing

Degrees

90 ± 10

90

90

  • At 300 kHz

µs

≥ 0.45

≥ 0.45

Cable length to downstream electronics, maximum1)

m (ft)

150 (492)

100 (328) without fault signal 50 (164) with fault signal

300 (984)

Accuracy

arcsec

± 18 mech. × 3600/PPR count z

± 18 mech. × 3600/PPR count z

± 18 mech. × 3600/PPR count z

LED failure monitoring

 

High-resistance driver

High-resistance driver

Maximum mechanical speed

rpm

12000

12000

12000

Starting torque at 20 °C (68 °F)

Nm (lbf-ft)

≤ 0.01 (0.01)

≤ 0.01 (0.01)

≤ 0.01 (0.01)

Shaft loading capacity

    
  • n ≤ 6000 rpm
    
  • Axial

N (lbf)

40 (8.99)

40 (8.99)

40 (8.99)

  • Radial at shaft extension

N (lbf)

60 (13.5)

60 (13.5)

60 (13.5)

  • n > 6000 rpm
    
  • Axial

N (lbf)

10 (2.25)

10 (2.25)

10 (2.25)

  • Radial at shaft extension

N (lbf)

20 (4.50)

20 (4.50)

20 (4.50)

Shaft diameter

    
  • Synchro flange

mm (in)

6 (0.24)

6 (0.24)

6 (0.24)

  • Clamp flange

mm (in)

10 (0.39)

10 (0.39)

10 (0.39)

Shaft length

    
  • Synchro flange

mm (in)

10 (0.39)

10 (0.39)

10 (0.39)

  • Clamp flange

mm (in)

20 (0.79)

20 (0.79)

20 (0.79)

Angular acceleration, maximum

rad/s2

105 

105

105

Moment of inertia of rotor

kgm2 (lbf-in-s2)

≤ 2.9 × 10-6 (2.57 × 10-5)

≤ 2.9 × 10-6 (2.57 × 10-5)

≤ 2.9 × 10-6 (2.57 × 10-5)

Vibration (55 … 2000 Hz) according to EN 60068‑2‑6

m/s2 (ft/s2)

≤ 300 (984)

≤ 300 (984)

≤ 300 (984)

Shock according to EN 60068‑2‑27

    
  • 6 ms

m/s2 (ft/s2)

≤ 2000 (6562)

≤ 2000 (6562)

≤ 2000 (6562)

Degree of protection

    
  • At housing

 

IP67

IP67

IP67

  • At shaft input

 

IP64

IP64

IP64

Ambient temperature, during

    

Operation

    
  • Flange outlet or fixed cable
    
  • At Vp = 5 V ± 10 %

°C (°F)

-40 … +100 (-40 … +212)

-40 … +100 (-40 … +212)

-40 … +100 (-40 … +212)

  • At Vp = 10 … 30 V

°C (°F)

-40 … +70 (-40 … +158)

  • Flexible cable
    
  • At Vp = 5 V ± 10 %

°C (°F)

-10 … +100 (+14 … +212)

-10 … +100  (+14 … +212)

-10 … +100 (+14 … +212)

  • At Vp = 10 … 30 V

°C (°F)

-10 … +70 

Net weight

kg (lb)

0.3 (0.66)

0.3 (0.66)

0.3 (0.66)

EMC

 

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

Certificate of suitability

 

CE, CSA, UL

CE, CSA, UL

CE, CSA, UL

Siemens Absolute Encoders

Absolute encoders output an absolute angular position between 0° and 360°. They operate on the same scanning principle as incremental encoders, but have a greater number of tracks. For example, if there are 13 tracks, then 213 = 8192 steps are coded in the case of single-turn encoders. The code used is a one-step code (gray code). This prevents any scanning errors from occurring. After switching on the machine, the position value is transferred immediately to the controller, travel to a reference point is not necessary.

All absolute encoders are available in single-turn and multi-turn versions.

Single‑turn encoders

Single-turn encoders divide one rotation (360 degrees mechanical) into a specific number of steps, e.g. 8192. A unique code word is assigned to each position. After 360° the position values are repeated.

Multi‑turn encoders

Multi-turn encoders record the number of revolutions in addition to the absolute position within one revolution. To do this, further code discs which are coupled via gear steps with the encoder shaft are scanned. When evaluating 12 additional tracks, this means that an additional 212 = 4096 revolutions can be coded.

Interface

Benefits

DRIVE-CLiQ

  • Very high data transfer rates possible
  • Advantages in time-critical applications
  • Simple and quick automatic configuration using electronic rating plates
  • Fast and easy diagnostics with a single tool
  • One interface for connecting drives as well as indirect and direct measurement systems to the CNC.

SSI

  • Advantages in time-critical applications

EnDat 2.1

  • High data transfer rate, bidirectional
  • Advantages in time-critical applications
  • Incremental track with 1 Vpp
  • Connection via SINAMICS Sensor Modules SMC/SME

PROFIBUS DP-V2

  • Parameterizable built-on encoder
  • Reduced wiring overhead in plants with a large number of encoders
  • Isochronous operation and direct data exchange

PROFINET IO

  • Parameterizable built-on encoder
  • Reduced wiring overhead in plants with a large number of encoders
  • Supports RT and IRT operating modes
  • IRT (isochronous mode)
  • 2 ports

Data transfer for absolute encoders with SSI interface

n = data word length (13 bits for single-turn and 25 bits for multi-turn)

T = 1 … 10 µs

t cal = ≤ 5 µs

t 1 = ≤ 0.4 µs (without cable)

t 2 = 17 … 20 µs

Article No.

 

6FX2001-5.D..-1AA0

6FX2001-5.S..

6FX2001-5.E..

Product name

 

Motion Control encoder

Motion Control encoder

Motion Control encoder

Product designation

 

Absolute encoder
with DRIVE-CLiQ

Absolute encoder
with SSI

Absolute encoder
with EnDat 2.1

Operating voltage DC
Vp on encoder

V

24
– 15 % + 20 %

4.75 … 30

3.6 … 14

Current consumption, approx.

 

   
  • Single-turn

mA

37

90

90

  • Multi-turn

mA

43

120

120

Interface

 

DRIVE-CLiQ

SSI

EnDat 2.1

Clock input

 

Differential cable receiver acc. to EIA standard RS485

Differential cable receiver acc. to EIA standard RS485

Data output

 

DRIVE-CLiQ

Differential cable driver acc. to EIA standard RS485

Differential cable driver acc. to EIA standard RS485

Short-circuit strength

 

Yes

Yes

Yes

Transfer rate

Mbit/s

100

Transfer rate

kHz

100 … 1000

100 … 2000

Maximum speed

 

   
  • Electrical

rpm

14000

  • At ± 1 bit accuracy

rpm

5000

5000

  • At ± 12 bit accuracy

rpm

12000

  • At ± 100 bit accuracy

rpm

12000

12000

  • Mechanical

 

   
  • Single-turn

rpm

15000

15000

15000

  • Multi-turn

rpm

12000

12000

12000

Cable length to downstream electronics, maximum1)

m (ft)

100 (328)

  • Up to 300 kHz cycle

m (ft)

100 (328)

150 (492)

  • Up to 1 MHz cycle

m (ft)

50 (164)

50 (164)

  • Up to 2 MHz cycle

m (ft)

10 (32.8)

Connection

 

Radial flange outlet M12

Axial/radial flange outlet M23

Axial/radial flange outlet M23

Resolution

 

   
  • Single-turn

bit

24

13
(8192 steps)

13
(8192 steps)

  • Multi-turn

bit

36
(224 steps × 4096 revolutions)

25
(8192 steps × 4096 revolutions)

25
(8192 steps × 4096 revolutions)

Frame

 

   
  • Single-turn

bit

13
without parity

According to EnDat specification

  • Multi-turn

bit

25
without parity

According to EnDat specification

Incremental track

S/R

2048, 1 Vpp
(internal only)

512, 1 Vpp

Code type

 

   
  • Transfer

 

DRIVE-CLiQ

Gray, fir tree format

Dual

Parameterization capability

 

   
  • Preset

 

Set to zero

  • Counting direction

 

Yes

Accuracy

arcsec

± 20

± 60
(with 8192 steps)

± 60
(incremental track)

Starting torque at 20 °C (68 °F)

Nm (lbf‑ft)

≤ 0.01 (0.01)

≤ 0.01 (0.01)

≤ 0.01 (0.01)

Solid shaft loading capacity

 

   
  • n ≤ 6000 rpm

 

   
  • Axial

N (lbf)

40 (8.99)

40 (8.99)

40 (8.99)

  • Radial at shaft extension

N (lbf)

60 (13.5)

60 (13.5)

60 (13.5)

  • n > 6000 rpm
    
  • Axial

N (lbf)

10 (2.25)

10 (2.25)

10 (2.25)

  • Radial at shaft extension

N (lbf)

20 (4.50)

20 (4.50)

20 (4.50)

Shaft diameter

 

   
  • Synchro flange
    Solid shaft

mm (in)

6 (0.24)
with flat face

6 (0.24)

6 (0.24)

  • Clamp flange
    Solid shaft

mm (in)

10 (0.39)
with flat face

10 (0.39)

10 (0.39)

  • Torque arm
    Hollow shaft

mm (in)

10 (0.39) or 12 (0.47)

Shaft length

    
  • Synchro flange

mm (in)

10 (0.39)

10 (0.39)

10 (0.39)

  • Clamp flange

mm (in)

20 (0.79)

20 (0.79)

20 (0.79)

Angular acceleration, maximum

rad/s2

105

105

105

Moment of inertia of rotor

    
  • Solid shaft

kgm2 (lbf-in-s2)

≤ 2.9 × 10-6 (2.57 × 10-5)

≤ 2.9 × 10-6 (2.57 × 10-5)

≤ 2.9 × 10-6 (2.57 × 10-5)

  • Hollow shaft

kgm2 (lbf-in-s2)

4.6 × 10-6 (4.07 × 10-5)

Vibration (55 … 2000 Hz) according to EN 60068‑2‑6

    
  • Solid shaft

m/s2 (ft/s2)

≤ 300 (984)

≤ 300 (984)

≤ 300 (984)

  • Hollow shaft

m/s2 (ft/s2)

≤ 150 (492)

Shock according to EN 60068‑2‑27

 

   
  • 6 ms

 

   
  • Solid shaft

m/s2 (ft/s2)

≤ 2000 (6562)

≤ 2000 (6562)

≤ 2000 (6562)

  • Hollow shaft

m/s2 (ft/s2)

≤ 1000 (3281)

Degree of protection

 

   
  • At housing

 

IP67

IP67

IP67

  • At shaft input

 

IP64

IP64

IP64

Ambient temperature, during

 

   
  • Operation

°C (°F)

-30 … +100 (-22 … +212)

-40 … +100 (-40 … +212)

-40 … +100 (-40 … +212)

Net weight

 

   
  • Single-turn

kg (lb)

0.35 (0.77)

0.35 (0.77)

0.35 (0.77)

  • Multi-turn

kg (lb)

0.35 (0.77)

0.35 (0.77)

0.35 (0.77)

EMC

 

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

EMC Directive 2014/30/EC and regulations of EMC directives (applicable basic standards)

Certificate of suitability

 

CE, CSA, UL

CE, CSA, UL

CE, CSA, UL

IDEA AND INNOVATION

Siemens Motion Control Encoders

innovative engineering, easy operation and optimised functional dependability.