igus robolink Manual page 12

®
robolink Joint kit – Documentation (#4; 2016-12)
The encoder from Austriamicrosystems (=> Spec sheet download at
www.igus.de/robolink/support&service
This permits the following resolutions per axis:
Swivel RL-50-xxx
Rotation RL-50-xxx
Swivel / Rotation
RL90-xxx
Fig. 25: A/B and index signals from the encoder
The resolution of the individual axis approximately corresponds to the following
positioning errors at the corresponding tube lengths:
Distance from center point (x) [mm]
200
400
500
Table 2: Positioning accuracy with angle sensors
Since the positioning errors for multiple axis are compounded, system designs have a
positioning inaccuracy, or repeatability accuracy of approx. 1-2mm for multi-axes systems
(depending on the number of axes and tube lengths).
The Hall Sensor Honeywell SS443A is used to reference the system (home position). It
has an Open-Collector-Output. This is designed for the connection to a TTL/CMOS-circuit
– the 10kΩ pull-up-resistance exists on the board already.
If the output has to be adapted to a 24V-circuit (e.g. PLC), it is realizable e.g. with the
following circuit diagram with an optical coupler device. The components have to be
adjusted to the respective loads. For this case, a possible electrical configuration is shown
in Fig. 26.
®
igus GmbH | Martin Raak | Tel. +49 (0)2203 9649 409 | mraak@igus.de
) determines 4x40=160 A/B signals per pole pair.
Number of pulses /
chanel
1.240
1.160
2.480
Positioning accuracy [mm]
Number of signals
(Quadratur)
4.960
4.640
9.920
0,24
0,49
0,61
Resolution
0,073°
0,078°
0,036°
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