User guide

PHU9
BEI Sensors SAS
Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
Tél : [phone]
Fax : [phone]
Mail : [e-mail]
Web :
www.beisensors.com
CANopen ABSOLUTE MULTI-TURN ENCODERS, PHU9 RANGE
ELECTRICAL CHARACTERISTICS
Power supply 5 – 30Vdc
Introduction < 1 s
Consumption (without load) < 50mA (at 24Vdc)
Accuracy ± ½ LSB (13 bits)
Programmable parameters
Resolution: defines the resolution per revolution (0 to 8 192),
Global resolution : total amount of codes for the encoder (2 to 536 870 912),
Transmission speed : programmable from 10kBaud (1000m) to 1 Mbaud (40 m) ; value per default: 20 Kbaud,
Address: define the software address of the encoder on the bus (1 to 127, value by default: id = 1),
Direction : define the direction of count of the encoder ,
RAX : defines the value of its preset position (non turning shaft),
CAM: Low and High Limits.
Communication modes
3 modes are available to interrogate the encoder :
POLLING mode: (Response to a RTR message): The position value is only given upon request (SDO mode),
CYCLIC mode: the encoder transmits its position in an asynchronous manner. The frequency of the transmission is
defined by the programmable cyclical timer register from 0 to 65 535 ms,
SYNCHRO mode: the encoder transmits its position on a synchronous demand by the master.
CANOPEN CONNECTION
1 2 3 4 5 6 7 8, 9, 11 10 12
Reserved CAN LOW CAN GND Reserved Reserved Reserved CAN HIGH Reserved 0V + 5/30Vdc
Pinout 3 (CAN GND) and 10 (0V) are connected together (intern the encoder).
Nota : Refer to the bus standards for the maximal derivation length.
ORDERING CODE (Special versions upon request, for ex. special flanges/electronics/connections…)
Shaft  Power supply
Output
stages
Code Resolution Nb of turns Connection
Connection
orientation
PHU9 30 :
30mm
Reduction
hubs
available
P :
5 to 30Vdc
BB :
CANopen
B:
Binary
13 :
8192 points
per turn (2
13
)
B16 :
65 536 turns
(2
16
)
BC:
M23
12 pinouts
clockwise
R :
radial
PHU9 _ 30 // P BB B // 13 B16 // BC R
Made in France
Changes possible without further notice - Version 090506