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Up to 16 absolute encoders can be connected to the Pluto CAN bus. One of the Pluto units on the bus must have software option for communication with the encoders. This special Pluto sends cyclic a sync telegram, which trigs all encoders on the bus to read the position and send a telegram with the position value back to the bus. The special Pluto can read the encoder telegrams and evaluate them. With block functions in the PLC code it is then possible to make a dual channel function with two encoders. Out of this the user gets failsafe values for position and speed including stand still monitoring and over speed detection.
The encoders are standard absolute encoders with modified software to meet the safety requirements.
Reaction Time:
The encoders are read every 10 ms. The system tolerates that a single reading of an encoder fails, but if two or more fails, it leads to failure alarm. This leads to the response times as below.
Response Time:
Normal conditions: 11 ms + program execution time ≈ 14 ms
By fault: 31 ms + program execution time ≈ 34 ms
Manual
Pluto Encoder English Manual (PDF 0.5MB)
Also see our Pluto Safety PLC section.
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Technical Data
Encoder Data
Type designation...................................... RSA 608
Operating Temperature................. -40°C - +70°C
Storage Temperature..................... -30°C - +70°C
Protection class
Ingress.................... IP67 according to IEC 60529
At shaft inlet........... IP-66 according to IEC 60529
Vibration (55 to 2000Hz)...................... < 100 m/s2
according to IEC 60068-2-6
Shock (6ms).......................................... <2000 m/s2
according to IEC 60068-2-27
Cover material......................................... Aluminum
Cover surface treatment.......................... Anodized
Weight.................................................. Approx. 400g
Accuracy and Resolution
Total Resolution................................................... 25
Single turn resolution.................................... 13 Bit,
8192 positions per revolution
Multiple resolution......................................... 12 Bit,
4096 absolute number of revoutions
Accuracy........................................................ ±1 LSB
Shaft type............................................... Ø 10 round
Axial shaft load.................................................. 50 N
Radial shaft load.............................................. 60 N
Mech. permissible speed...................... 6000 rpm
Shaft material................................. Stainless steel
Moment of inertia........................... 2,0 x 10-6 kgm2
Flange type........................................... 63, Synchro
Outer diameter........................................... ø58 mm
Mounting holes.............................................. 3 x M4
Flange material...................................... Aluminum
Surface treatment................................... Trumbled
Electrical Data
Power supply............................................ 9-36VDC
Polarity protected............................................... Yes
Output interface....................................... CANopen
Supported profile. Encoder profile DSP 406 v3.1
Baud rate......... Settabel via switch, max. 1Mbit/s
Node address............ Settable via DIP switches,
0...99
Zero-set function............................ Pushbutton or
CANopen object
Code type....................................................... Binary
Supported functions.... Code sequence, Preset,
Velocity, Scaling, Acceleration, PDO mapping,
Heartbeat and Node Guarding
Current consumption................ 90 mA @ 24VDC
Max current consumption.................... 150 mA @
24VDC (3.6W)
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