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Avtron HS6A, Instructions Manual

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HS6A

1

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Nidec-Avtron Makes the Most Reliable Encoders in the World

Encoder Instructions

 

MODEL

 

HS6A

HOLLOW SHAFT 6mm-15mm BORE 

DESCRIPTION

The Avtron Model HS6A is a light mill duty absolute encoder. It 

expresses the position of rotation as an output message or value. 

HS6A can measure a single turn of rotation or multiple rotations.  The 

HS6A measures the shaft rotation and position without the need for 

external power or internal batteries or capacitors through its internal 

gearbox system.  The HS6A operates down to zero speed and can be 

used for both control and instrumentation applications.

 CAUTION

 

Do not utilize HS6A in hazardous locations which  

 

require ATEX, UL, CUL, CSA, or other explosion protection  

 

certification. HS6A is not certified for hazardous  

 locations.

The HS6A is designed for direct mounting on shafts and utilizes a 

tether mount to secure the housing.

The HS6A features an interchangable set of sizing inserts to allow 

the same unit to fit shafts over the full size range, 6-15mm.  Note 

that the optional thru-shaft 12mm unit can also be resized 6-12mm 

using a different set of sizing inserts. 

The HS6A uses optical sensors; to protect the optical sensors and 

bearing systems HS6A features extensive seal systems.  (Option “X” 

unsealed is only available/standard on 12mm thru-shaft). 

SAFETY

The HS6A is not considered as a safety device and is not suitable for 

connection into a safety system.  

 

CAUTION

 

Be careful not to damage clamping fingers of hollow  

 

shaft during handling. Do not tighten clamping collar  

 

before installation onto motor shaft.

 WARNING

 

Installation should be performed only by qualified  

 

personnel. Safety precautions must be taken to ensure  

 

machinery cannot rotate and all sources of power are  

 

removed during installation.

INSTALLATION

 

Refer to the back page of these instructions for outline and mounting 

dimensions. 

 

Equipment needed for installation

 

 

Supplied:

 

 

HS6A Encoder

 

Standard flat metal tether (2.48” [63mm] BC) 

 

 

 

Optional:

 

 

Mating plugs

 

Mating cable assemblies

 

Not Supplied:

 

 

Hex Wrenches

 

Dial Indicator Gauge 

 

Caliper Gauge

HS6A PART NUMBERS AND AVAILABLE OPTIONS

Model Sensor

Bus

Style

Shaft 

Size

Turns/ 

bits

PPR/bits  

per turn

Connector

Mounting

Output

IP  

Rating

Special 

Option

HS6A

A- 

Optical

C- 

CANOpen

D- 

DeviceNet

F- 

CANSafe

K- 

POWERLINK

L- 

Parallel

M- 

ModbusTCP  

 Ethernet

N-

 Profinet IO

P- 

Profibus DP

R- 

Ethernet/IP

S- 

SSI

1- 

58mm 

     housing

L- 

6mm 

M- 

8mm

N- 

10mm

P- 

12mm

R- 

15mm    

  (EOS only)

Z- 

All metric  

 sizes

X- 

0/0- single  

 turn

2-

 4096/12

4- 

16384/14

2- 

4096/12

3- 

8192/13

4- 

16384/14

6- 

65536/16

A-

 1xM12/5 pin

B-

  2xM12/5 pin

C-

  3xM12 4/4/5 

      or 4/4/4 pins

D-

  2xM12/4/5 pin

E-

  M12/8 pin

F-

  M23/12 pin

G-

   M27/26pin

J-

  2x cable entry

K-

  3x cable entry

M- 

M23/8pin  

 Hengstler

N- 

M23/8pin  

 Stegmann

Q- 

M23/8pin  

 Kubler

W- 

Cable, 1m

E- 

EOS only

U-

 EOS or Thru  

  (12mm SSI only)

1-

 Binary

2- 

Gray

X- 

None, IP54

A- 

IP66 shaft  

 seals

S-

 IP66 seals,  

 stainless 

 

 housing

000-

 none

9xx- 

special  

 cable
 length 
         xx=length
 0.3m/ft

MOUNTING COMPATIBILITY

Housing

Bore Size

Mounting IP/Sealing

1

M, N, P, R, Z E

A, S

1

P

U

X

STANDARD CONNECTORS & OUTPUT FORMATS

Bus

Code

Connectors

Output

CANOpen

C

A, B, C, J, K, W

1

DeviceNet

D

A, W

1

CANSafe

F

K

1

POWERLINK

K

C

1

Parallel

L

G, W

1, 2

ModbusTCP

M

D

1

Profinet

N

C

1

Profibus DP

P

C, J, K

1

EtherNet/IP

R

C

1

SSI

S

E, F, W

1, 2

Summary of Contents for HS6A

Page 1: ...tion into a safety system CAUTION Be careful not to damage clamping fingers of hollow shaft during handling Do not tighten clamping collar before installation onto motor shaft WARNING Installation should be performed only by qualified personnel Safety precautions must be taken to ensure machinery cannot rotate and all sources of power are removed during installation INSTALLATION Refer to the back ...

Page 2: ...emove power before wiring Interconnecting cables specified in the wire selection chart are based on typical applications Refer to the system drawing for specific cable requirements where applicable Physical properties of cable such as abrasion temperature tensile strength solvents etc are dictated by the specific application and communications bus Do not use unshielded cable Ground one end only of...

Page 3: ...s PCAN View Ensure the device is set to the proper baud rate connection cap or for units with no connection cap via software Ensure the device is set to the proper node address connection cap or for units with no connection cap via software The encoder will power up in the pre operational mode The message it will issue is ID 0x07nn 0x00 If you cannot see this message try power cycling the device N...

Page 4: ...Line Driver Specs See table G Connectors See connector options on page 1 H Accuracy 0 04 deg 2 6 arc min 12 bit units 0 02 deg 1 3 arc min 16 bit units MECHANICAL A Shaft Inertia 0 00003lb in sec2 30 g cm2 dyn B Acceleration 6000 RPM Sec Max C Speed 6000 RPM Max EOS model std seals 3000 RPM Max 12mm thru shaft model 12000 RPM Max w o seals not recommended D Weight 1 2 2 7 lbs 550 1200g E Vibration...

Page 5: ... encoder will power up in the pre operational mode The message it will issue is ID 0x07nn 0x00 nn node number typically 0x01 for units with connection cap including hardware node and baud rate selection software commands will not change node 0x20 is the factory default for units with software selectable addressing software commands can change node number Setting Node Number To set the node number ...

Page 6: ...x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55 No reset is triggered Cycle power after saving changes to parameters Other Parameters Contact Nidec Avtron for additional parameters diagnostic registers cam and programmable limit switch functionality and other advanced features CANOPEN TROUBLESHOOTING For CANOpen disconnect the power connection then ensure there are no short circuits between any of th...

Page 7: ... cycled before the values are stored the encoder will default to the values previously stored in EEPROM Setting Node Number To set the node number on units with a connection cap Set the address using the two rotating switches The node number can be between 0 63 The node address X10 switch 10 X1 switch value To set the node MAC ID number on units without a connection cap write attribute 6Fh byte ma...

Page 8: ... cabling system and that no termination resistors are in placed or activated in the middle of the system Remove the connections to the master controller and all devices or power down all devices Measure the resistance between the communication wires Example DeviceNet measure between CAN_L and CAN_H The value should be 1 2 of the termination resistor value on the network For DeviceNet this value sh...

Page 9: ...ian lowest bit right most bit Single turn data data within 1 turn is provided in the least significant bits Multiturn data is provided directly above the single turn data bitwise Example 12 turns x 13 bits turn encoder lowest 13 bits position within one turn next 12 bits up to bit 25 represent turns position data The position data is provided at parameter 0x6004 Setting Zero Position for Multiturn...

Page 10: ...ors encoder operational LS DA 1 Status Flashing Green Active inbound communication LS DA 2 Status Green Output connected to next encoder LS DA 2 Flashing Green Active communication to next encoder Error Red Ethernet Error or invalid node address Status 1 Flash Pre Operational Mode 1 2 Flashes Pre Operational Mode 2 3 Flashes Ready to operate Blinking Stopped ...

Page 11: ... position data Setting Zero Position for Multiturn Encoders and Single turn Encoders NOTE Do not attempt to use zero preset function while the encoder is rotating Doing so will produce unpredictable results To set zero position raise the voltage level of the Preset input to V supply of the encoder for at least 0 1sec The encoder will set the outputs to zero Setting Direction of Rotation for Count ...

Page 12: ...ition Speed and Acceleration To read position into your device acceleration and speed measurement is not supported For multiturn single turn encoders position data provided as 4 bytes 32 bits Format is little endian lowest bit right most bit Single turn data data within 1 turn is provided in the least significant bits Multiturn data is provided in adjacent 32 bit words Example 12 turns x 13 bits t...

Page 13: ...ted to each cable Use hubs or switches to connect multiple Modbus TCP encoders to the master device A software snoop or sniffer program can also be used to packet analyze the communication If the position is changing as the encoder moves but is reported incorrectly the Initial Value parameter may have been loaded into the encoder at the wrong physical position of the machine Drive the machine to t...

Page 14: ...now operate at the assigned IP address which can be validated using the ping command from the PC The assigned name can be used throughout STEP7 software to address the encoder Note that if more than one encoder is to be used on the same Profinet IO network each encoder must be assigned a unique name and individual encoders must be connected one by one to assign names using STEP7 software during se...

Page 15: ...ncoder use the parameters supplied in the GSDML file to set the appropriate mode Store the resulting configuration into the scanner module Storing Saving Encoder Parameters to EEPROM To store the current encoder operating parameters into non volatile memory Other Parameters Contact Nidec Avtron for additional parameters diagnostic registers cam and programmable limit switch functionality and other...

Page 16: ...placed in registers identified in the configuration package Profibus DP Diagnostic LEDs LED Status Meaning STATUS ERROR Green Off Power Ok Status OK STATUS ERROR Green Red No Configuration Data Received STATUS ERROR Green Flashing Red Encoder Bus Address Set Incorrectly STATUS ERROR Flashing Green Red Parameters Received With Incorrect Length STATUS ERROR Flashing Green Off Commissioning Mode Acti...

Page 17: ...is required Measuring Position Speed and Acceleration To read position and speed into your device acceleration measurement is not supported Following the instructions for your master scanner module for the EtherNet IP network load the encoder EDS file into your configuration Assign it to the correct IP address node number Store the configuration to the scanner module All of the position data and o...

Page 18: ...munication A software snoop or sniffer program can also be used to packet analyze the communication If the position is changing as the encoder moves but is reported incorrectly the Preset parameter may have been loaded into the encoder at the wrong physical position of the machine Drive the machine to the home preset position and cycle power to see if the position is correctly reloaded EtherNet IP...

Page 19: ...d Upon the Set Zero signal returning to logic zero falling edge the encoder count value will be set to zero Set Direction input 10K resistance For input logic zero or no connection the encoder will count UP for CCW rotation as viewed from the rear end of the encoder For input logic 1 10V Vs the encoder will count DOWN for CCW rotation as viewed from the rear of the encoder SSI TROUBLESHOOTING For ...

Page 20: ...ost L GND 0V BROWN 3 NC PINK NC BLUE NC GRAY CAN_H Rightmost H CAN_L Rightmost L CAN_GND Rightmost G Double up Double up REF SIGNAL CAN_GND V CAN_H CAN_L GND 0V Optional Daisy Chain CAN_H CAN_L CAN_GND V GND 0V CANOpen Bus C HS6A WIRING DIAGRAMS NOTE CAN cable required with individual and overall shields Obey pairing as shown Term Strip Switches Pinouts Bus in Bus out ...

Page 21: ...eftmost H CAN_L BLUE 3 Leftmost L NC NC NC CAN_H Rightmost H CAN_L Rightmost L Double up Double up REF SIGNAL V V GND CAN_H CAN_L Optional Daisy Chain CAN_H CAN_L GND V DeviceNet Bus D HS6A WIRING DIAGRAMS NOTE CAN cable required with individual and overall shields Obey pairing as shown Switches Pinouts Term Strip Bus in Bus out ...

Page 22: ...bey pairing as shown optional overall shield may be used for high noise environments NOTE For encoder switch connections use the crossover pinout shown for encoder PC or encoder PLC direct wiring use a Straight through connection Tx Tx Rx Rx Rx Rx Communication Bus K N R POWERLINK Profinet IO EtherNet IP Pinout Pinouts for Ethernet Port 2 Port 1 Power Switches HS6A WIRING DIAGRAMS Master Scanner o...

Page 23: ... YELLOW BROWN 16 BIT 15 WHITE YELLOW 15 BIT 14 BROWN GREEN 14 BIT 13 WHITE GREEN 13 BIT 12 BLUE RED 12 BIT 11 GREY PINK 11 BIT 10 VIOLET 10 BIT 9 BLACK 9 BIT 8 RED 8 BIT 7 BLUE 7 BIT 6 PINK 6 BIT 5 GREY 5 BIT 4 YELLOW 4 BIT 3 GREEN 3 BIT 2 BROWN 2 BIT 1 LSB WHITE 1 NOTE Cable with overall shield required Communication Bus P Parallel Pinout REF SIGNAL SIGNAL GND Vs DIRECTION LATCH PRESET BIT 25 MSB...

Page 24: ...hown optional overall shield may be used for high noise environments Communication Bus M Modbus TCP Pinout HS6A WIRING DIAGRAMS Master Scanner or Switch Power Supply NOTE For encoder switch connections use the crossover pinout shown for encoder PC or encoder PLC direct wiring use a Straight through connection Tx Tx Rx Rx Rx Rx 1 4 2 3 5 2 3 1 4 Pinouts for Ethernet Port 1 Power ...

Page 25: ... B Bus A out 5 pin female 2 Rightmost A Bus B out 4 Rightmost B REF SIGNAL GND OV Vs Bus A out Bus B out Bus A in Bus B in NOTE Profibus cabling required Obey pairing as shown If termination resistor R is enabled on bus out terminals are disabled Communication Bus P Profibus Pinout HS6A WIRING DIAGRAMS Power Supply Bus In Bus Out Pinouts for Profibus Power Bus out Bus in ...

Page 26: ...INK 4 6 SET ZERO BLUE 9 7 SET DIRECTION RED 8 8 NC 5 NC 6 NC 7 NC 10 REF SIGNAL GND Vs CLK CLK DAT DAT SET ZERO SET DIRECTION NC NC NC NC NOTE Twisted pair cable required with overall shield individual pair shielding recommended Obey pairing as shown Communication Bus S SSI Pinout HS6A WIRING DIAGRAMS Pinouts for SSI Option F M23 12 Option E M12 8 ...

Page 27: ...HS6A 27 HS6A SSI S 12mm Bore P End Thru Shaft Universal Mounting U Connector M12 8 E ...

Page 28: ...HS6A 28 HS6A SSI S 15mm Bore R End of Shaft Mounting E Connector M23 12 F ...

Page 29: ...2 1230 FAX 1 216 642 6037 www avtronencoders com HS6A Profibus DP P 15mm Bore R End of Shaft Mounting E Connector M12x3 C DIMENSIONS IN INCHES MILLIMETERS ALL DIMENSIONS ARE APPROXIMATE Features and specifications subject to change without notice Avtron standard warranty applies All dimensions are in millimeters approx ...

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