ABB IRC5P, Product Manual, Page: 88 / 220

5 Installation and Commissioning
5.6 Encoder and Sync Switch Installation
88 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
Rotating Direction
The physical rotating direction of the encoder after installation is dependent on the
design of the arrangement connecting the encoder to the conveyor. Basically, both
rotating directions can be equally used, but it is required that it counts ‘up’ when the
conveyor moves forwards and counts ‘down’ when the conveyor moves backwards.
The rotating direction of the encoder can be changed electrically by interchanging
the 2 phases (0° and 90°) of the output signals, - Ref: Figure 40 .
For information on how to find encoder rotating direction, see ‘Operator’s Manual,
IRC5P’, chapter ‘Installation and Commissioning’.
Technical Specifications
* Maximum frequency is strongly dependent on cable quality and cable length.
Recommended cable is 3 pair screened cable.
Encoder Noise
Suppression
The encoder must be connected using a screened cable. If this cable is long, the
inductance in the cable will produce spike pulses on the encoder signal which may,
over a period of time, damage the opto couplers in the control electronics. The spike
pulses (which can be of considerable amplitude), can be removed by installing a
capacitor between the signal wire and ground for each of the 2 phases. The
capacitors should be connected at the encoder end, not on the electronics end.
Typical capacitor value is 100 nF - 1 µF, depending on the length of the cable
(longer cable, larger capacitor). The correct capacitor can be found by viewing the
encoder signal using an oscilloscope.
Output signal: Open collector PNP or NPN output
Voltage: 10-30V (normally supplied by 24VDC from robot)
Current: Max. 10mA (for each connected robot)
Phase: 2 phase with 90 degrees phase shift
Duty cycle: 50%
Max. frequency: 40KHz *