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Bosch Rexroth AG
Technical data
5.4
Technical data encoder MSK motors
Designation
Interface
Encoder design
Distinguishable revolutions
Signal periods
System accuracy
Output signal
Maximum encoder speed
Max. current consumption
Supply voltage
Calculate position resolution
Encoder Singleturn S1, S2, S3
Encoder Multiturn absolute M1,
M2, M3
Symbol
Unit
S1
Hiperface
Singleturn
absolute
1
Angular
seconds
12,000
min
-1
I
mA
Encoder
VCC
En‐
V
coder
Tab. 5-3:
Technical data MSK encoder
The actual position resolution can be done for every encoder type according
to the following calcuation.
Calculation example: "Position resolution for M1 encoder"
from table:
Distinguishable revolutions: 4,096
Number of lines 128
out of documentation about the controllers:
Encoder resolution
Position resolution = number of lines x resolution of encoder x distinguishable
revolutions
Position resolution = 128 × 2
1)
Encoder resolution depends from the connected controller.
These encoders permit absolute, indirect position recording within one me‐
chanical rotation. The encoders replace separate incremental encoders on
the motor.
After a power failure or after the first POWER ON, the axis must
always at first be moved to its home position.
Exception: Applications in which the maximum working path is
within one mechanical rotation of the motor.
These encoders permit absolute, indirect position recording within 4,096 me‐
chanical rotations. The encoders replace a separate absolute value encoder
on the motor. With this encoder version, the absolute position of the axis is
preserved even after a switch-off.
DOK-MOTOR*-MSK*EXGIIK3-PR09-EN-P
Synchronous Servomotors MSK For Potentially Explosive Areas
M1
S2
EnDat 2.1
Multiturn
Singleturn
absolute
absolute
4,096
1
128
2,048
±120
±20
1Vss
9,000
15,000
60
150
7...12
3.6...14
: 13 bit
1)
× 4,096 = 4,294,967,296 Information
13
M2
S3
M3
Hiperface
Multiturn
Singleturn
Multiturn
absolute
absolute
absolute
4,096
1
4,096
16
±520
12,000
250
50
7...12
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