IDEC SE2L Series, User Manual

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SE2L User’s Manual (SE9Z-B1865)
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3.6.2 Recommend increment encoder specification
・ Phase setting 90° dual channel rotary encoder
・ Power supply: 24V DC
・ Output : Complementary output
・ Protective class : IP 54 or more
・ Output cable : Twist pair/ shield cable
・ Maximum pulse frequency : 100 kHz
・
Minimum pulse frequency : 50 pulse / cm
3.6.3 Tolerances allowed for encoder
When AGV travels in a forward direction, speed input through the two increment encoder will be same as
the original pulse frequency. However, there are cases when two speed input values may differ, such as while
cornering and due to AGV tire exhaustion. The difference between two input speeds should not exceed the
error tolerance for more than a fixed period of time. Set the error tolerance in the range of 0 to 45%.
Of the two speeds, the larger value will be considered for vehicles speed calculation. When permitted error
tolerance exceeds the fixed period OSSD will go to OFF state. Tolerance period differs according to the
vehicle speed as shown in table 3-3.
Table 3-3 Relation between AVG speed and tolerance
AGV speed v (cm/s) Tolerance
-9 ≦ v ≦ +9
Infinity
-30<v<-9 or 9<v<30 60s
v
≦
-30 or +30
≦
v 20s
v<-9 or +9<v
(Two encoders with different rotating direction)
0.3s
 User should verify the proper area switching through encoder inputs.
 Always use 2 units of increment encoder. It is not possible to detect the failure of
increment encoder or abnormal travel of the vehicle with single unit.
 Use separate sets of cable to connect outputs from incremental encoder 1 and 2 to the
respective encoder input terminals of SE2L.
 Separate the power supply cables and power source of each incremental encoder.
Output pairs of encoder connection should match the input pair of SE2L.
 Do not wire other power lines parallel to encoder and SE2L or wire in the same duct.
There is a possibility of noise disturbance.