Netzer VLX-247 Hollow Shaft Rotary Encoder Kit Encoder User Guide

VLX-247 Hollow Shaft Rotary Encoder Kit Encoder

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Product Information

Specifications

• Product Name: VLX-247 Absolute Hollow Shaft Rotary Encoder
  Kit

• Encoder Type: Absolute Rotary Encoder

• Features: Low profile design, high accuracy motion control

• Technology: Capacitive technology

• Manufacturer: Netzer Precision Position Sensors

Product Usage Instructions

1. Introduction

The VLX series of Electric Encoders are designed for high
accuracy motion control in industrial, automation, and robotic
applications.

2. Mounting

Mount the encoder using the End-of-Shaft Installation method as
described in the manual on pages 11-12.

3. Operational Mode

Understand the SSi / BiSS operational mode for communicating
with the encoder. Refer to page 27 for details.

4. Storage and Handling

Ensure proper storage and handling practices to maintain the
integrity of the encoder. Refer to page 9 for guidelines.

FAQ (Frequently Asked Questions)

Q: What is the technology used in the VLX encoders?

A: The VLX encoders are based on capacitive technology developed
and improved by Netzer Precision Position Sensors over 20
years.

Q: What are the key features of VLX encoders?

A: The key features include a low profile design, high accuracy
motion control, and suitability for demanding applications.

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VLX-247

PRODUCT GUIDE

Absolute

Hollow Shaft

Rotary Encoder Kit Encoder

Absolute Rotary Encoder

Hollow Shaft Kit Encoder

VLX-247

PRODUCT GUIDE

Table of Contents
1. VLX Encoders Introduction ……………………………………………………………………………………………………………………………..4
2. Technical Specifications …………………………………………………………………………………………………………………………………..5
3. Ordering Code…………………………………………………………………………………………………………………………………………………..6
4. Mechanical Drawings……………………………………………………………………………………………………………………………………….7
5. Mechanical Interface Control Drawing………………………………………………………………………………………………………….8
6. Storage and Handling………………………………………………………………………………………………………………………………………9
7. ESD Protection…………………………………………………………………………………………………………………………………………………..9
8. Product Overview ……………………………………………………………………………………………………………………………………… 9-10 8.1 Overview………………………………………………………………………………………………………………………………………………………………………………..9 8.2 Unpacking – Standard order ………………………………………………………………………………………………………………………………………. 10 8.3 Installation flow chart ……………………………………………………………………………………………………………………………………………………. 10
9. Electric Encoder Software Installation……………………………………………………………………………………………………….. 11 9.1 Minimum requirements ……………………………………………………………………………………………………………………………………………….. 11 9.2 Installing the software …………………………………………………………………………………………………………………………………………………… 11
10. Mechanical Mounting………………………………………………………………………………………………………………………………11-12 10.1 Encoder mounting – End-of-Shaft Installation …………………………………………………………………………………………………….. 11
11. Electrical Connection……………………………………………………………………………………………………………………………….13-16 11.1 Absolute position over SSi or BiSS-C ……………………………………………………………………………………………………………………….. 13 11.2 Digital SSi Interface…………………………………………………………………………………………………………………………………………………………. 14 11.3 Digital BiSS-C Interface………………………………………………………………………………………………………………………………………………….. 15 11.4 Setup mode over NCP (Netzer Communication Protocol)……………………………………………………………………………… 16 11.5 Electrical connection and grounding……………………………………………………………………………………………………………………… 16
12. Signal Verification……………………………………………………………………………………………………………………………………..17-19 12.1 Starting the Encoder Explorer…………………………………………………………………………………………………………………………………….. 17 12.2 Signal verification process……………………………………………………………………………………………………………………………………………. 18
13. Calibration and Additional Options……………………………………………………………………………………………………….20-26 13.1 Auto- calibration……………………………………………………………………………………………………………………………………………………………….. 20 13.2 Setting the encoder zero- position……………………………………………………………………………………………………………………………. 25 13.3 Jitter test……………………………………………………………………………………………………………………………………………………………………………… 26
14. Operational Mode…………………………………………………………………………………………………………………………………………. 27 14.1 SSi / BiSS ……………………………………………………………………………………………………………………………………………………………………………… 27

1. VLX Encoders Introduction
Designed to meet the requirements of the most demanding applications
The VLX series of Electric EncodersTM are a line of encoders designed for high accuracy motion control for industrial, automation and robotic applications. These encoders are based on capacitive technology which have been developed and improved for over 20 years by Netzer Precision Position Sensors.
The VLX encoders are characterized by the following features that sets them apart from other similar encoders:
Low profile (<10.7 mm) Hollow shaft (Stator / Rotor) No bearings or other contact elements High resolution and excellent precision Immunity to magnetic fields High tolerance to temperature extremes, shock, moisture, EMI, RFI Very low weight Holistic signal generation and sensing Digital interfaces for absolute position The holistic structure of the VLX Electric EncoderTM makes it unique. Its output reading is the averaged outcome of the entire circumference area of the rotor. This inherent design characteristic provides the VLX encoder with outstanding precision as well as a tolerant mechanical mounting. The absence of components such as ball bearings, flexible couplers, glass discs, light sources & detectors, along with very low power consumption, enables the VLX encoders to deliver virtually failure-free performance.

VLX-100
4 VLX-247-PG-V03

VLX-170

VLX-247

VLX-140

VLX-60

VLX-80

Product Guide

Absolute Rotary Encoder

Hollow Shaft Kit Encoder

VLX-247

PRODUCT GUIDE

2. Technical Specifications

General

Angular resolution

18-20 bit

Nominal position accuracy

±0.010° / ±0.006°

Maximum operational speed

4,000 rpm

Measurement range

Single turn, unlimited

Built In Test BIT

Optional

Rotation direction

Adjustable CW/CCW*

• Default same direction from bottom side of the encoder

Mechanical
Allowable mounting eccentricity Allowable axial mounting tolerance Rotor inertia Total weight Outer Ø / Inner Ø / Height Material (stator / rotor) Nominal air gap (stator, rotor)

±0.1 mm ±0.3 mm 876,053 gr · mm2 220 gr 247 / 171 / 10.7 mm PCB (FR4) 1 mm

Electrical
Supply voltage Current consumption Interconnection Communication Output code Serial output Clock frequency Position update rate

5V ± 5% ~90 mA Connector: DF13A-10P -1.25H SSi, BiSS-C Binary Differential RS-422 0.1- 5.0 MHz 35 kHz (Optional – up to 375 kHz)

Environmental
EMC Operating temperature Storage temperature Relative humidity Shock endurance / functional Vibration functional Protection

IEC 6100-6-2, IEC 6100-6-4 -40°C to +85°C -40°C to +85°C 98% Non condensing 100g 6msec saw-tooth per IEC 60068-2-27:2009 20g @ 10 to 2000 Hz sweep per IEC 60068-2-6 IP 40

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3. Ordering Code

VLX – 247 – S G – C H – n n n

VLX Product Line

Outer Diameter

Output

S

SSi

I

BiSS

Resolution

Code Bit

G

18

H

19

I

20

CPR 262,144 524,288 1,048,578

EA Extended Accuracy nnn Custom
Interconnection H Horizontal (Connector) V Vertical (Connector)
C Connector

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4. Mechanical Drawings

0 A
Netzer Precision Position Sensors

0 0

A

0

240

7 0

Unless otherwise specified

Dimensions are in: mm Surface finish: N6

Linear tolerances

0.5-4.9: ±0.05 mm

5-30: ±0.1 mm

31-120: ±0.15 mm

121-400: ±0.2 mm

VLX-247-PG-V03 7

5. Mechanical Interface Control Drawing

Encoder’s stator
Encoder’s rotor M4 dowel pins Customer’s shaft Customer’s base

Customer interface, exploded view

Encoder general view

Accessories cables (optional)

SSi / BiSS
CB-00088-250 CB-00088-500

Remarks
AWG30, 250 mm AWG30, 500 mm

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6. Storage and Handling
Storage temperature: -40°C to +85 °C Humidity: Up to 98% non-condensing
7. ESD Protection
As usual for electronic circuits, during product handling do not touch electronic circuits, wires, connectors or sensors without suitable ESD protection. The integrator / operator shall use ESD equipment to avoid the risk of circuit damage.

ATTENTION OBSERVE PRECAUTIONS FOR HANDLING
ELECTROSTATIC SENSITIVE DEVICES

8. Product Overview
8.1 Overview
The VLX-247 absolute position Electric EncoderTM is a rotary position sensor developed for demanding applications. Currently it performs in a broad range of robotic ,automation and industrial applications.
The Electric EncoderTM non-contact technology provides accurate position measurement through the modulation of an electric field.
The VLX-247 Electric EncoderTM is a kit-encoder, i.e., its rotor and stator are separate.

1
(1) Encoder stator (2) Encoder rotor
2

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8.2 Unpacking – standard order
The package of the standard VLX-247 contains the encoder Stator & Rotor. Optional accessories: (1) CB-00088-250, 250mm connection harness. (2) CB-00088-500, 500mm connection harness. (3) CNV-00003, RS-422 to USB converter (with USB internal 5V power supply path). (4) NanoMIC-KIT-01, RS-422 to USB converter. Setup & Operational modes via SSi /BiSS interface. (5) DKIT-VLX-247 -SG-CH, Mounted SSi encoder on rotary jig, RS-422 to USB converter and cables. (6) DKIT-VLX-247-IG-CH, Mounted BiSS encoder on rotary jig, RS-422 to USB converter and cables.
8.3 Installation flow chart
Electric Encoder Software
installation on PC
Mechanical mounting
Electrical connection
Signal verification

YES

NO

Calibration 10 VLX-247-PG-V03

Mounting correction

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9. Electric Encoder Software Installation
The Electric Encoder Explorer (EEE) software:
Verifies correct mounting for an adequate signal amplitude Calibration of offsets General set up and signal analysis This section describes the steps associated with installing the EEE software application.
9.1 Minimum requirements
Operating system: MS windows 7/ 10, (32 / 64 bit) Memory: 4MB minimum Communication ports: USB 2 Windows .NET Framework, V4 minimum
9.2 Installing the software
Run the Electric EncoderTM Explorer file found on Netzer website: Encoder Explorer Software Tools After the installation you will see Electric Encoder Explorer software icon on the computer desktop. Click on the Electric Encoder Explorer software icon to start.
10. Mechanical Mounting
10.1 Encoder mounting – End-of-Shaft Installation

Typical encoder installation uses
Mounting screws Socket Head Cup Screw 8xM2, 4 each per stator & rotor. Mounting dowel pins 4xØ2, 2 each per stator & rotor (not included with the encoder).

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1 mm

Encoder stator / Rotor relative position
For proper performance the air gap should be 1 mm ±0.3 mm
In an optimal mounting, the signal amplitude values generated by the encoder, would be in the middle of the range of the signal plot shown in the Encoder Explorer software (see plot below). This may vary according to the encoder type. Verify proper rotor mounting with the Encoder Explorer tools “Signal analyzer” or “Signal verification process.”

Note: for more information please read section 7 12 VLX-247-PG-V03

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11. Electrical Connection
This chapter reviews the steps required to electrically connect the encoder with digital interface (SSi or BiSS-C).
Connecting the encoder
The encoder has two operational modes:
11.1 Absolute position over SSi or BiSS-C
This is the power-up default mode

Electric EncoderTM

CLK / NCP RX [+] (gray) CLK / NCP RX [-] (blue)

Host System
5V

DATA / NCP TX [-] (yellow)

5V

DATA / NCP TX [+] (green) 120

Gnd

(black)

5V

(red)

SSi / BiSS output signal parameters
Output code Serial output Clock Clock frequency Position update rate

Connector Pinout

Pin No.

SSi / BiSS

8

+5V

7

GND

6

Data +

5

Data –

4

Clock –

3

Clock +

Remarks P.S. GND / RTN Data / NCP TX
Clock / NCP RX

Binary Differential RS-422 Differential RS-422 0.1-5.0 MHz 35 kHz (Optional – up to 375 kHz)

Accessory cable (optional)

SSi / BiSS interface wires color code

Clock +

Grey

Clock –

Blue

Clock

Data –

Yellow

Data

Data +

Green

GND

Black

Ground

+5V

Red

Power supply

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11.2 Digital SSi Interface

Synchronous Serial Interface (SSi) is a point to point serial interface standard between a master (e.g. controller) and a slave (e.g. sensor) for digital data transmission.
Tr

Master Clock

1 23 4

Encoder Data

T MSB n-1 n-2 n-3

n n+1

Tp Tm LSB

0

MSB

Tu
Built In Test option (BIT) The BIT indicates critical abnormality in the encoder internal signals. ‘0’ ­ the internal signals are within the normal limits, ‘1’ ­ Error The Part Number of the encoder indicates whether the encoder includes BIT. If no BIT is indicated in the PN, there is no additional error bit.
Tr

Master Clock

1 23 4

Encoder Data

T MSB BIT n-1 n-2

n+1 n+2

Tp

Tm LSB

0

MSB

n T f= 1/T Tu Tp Tm Tr fr=1/Tr

Tu

Description

Recommendations

Position resolution

12-20

Clock period

Clock frequency

0.1-5.0 MHz

Bit update time

90 nsec

Pause time

26 – sec

Monoflop time

25 sec

Time between 2 adjacent requests Tr > n*T+26 sec

Data request frequency

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11.3 Digital BiSS-C Interface
BiSS ­ C Interface is unidirectional serial synchronous protocol for digital data transmission where the Encoder acts as “slave” transmits data according to “Master” clock. The BiSS protocol is designed in B mode and C mode (continuous mode). The BiSS-C interface as the SSi is based on RS-422 standards.
Built In Test option (BIT) The BIT indicates critical abnormality in the encoder internal signals. ‘1’ ­ the internal signals are within the normal limits, ‘0’ ­ Error The Part Number of the encoder indicates whether the encoder includes BIT. If no BIT is indicated in the PN, the error bit is always 1.
Master Clock

Encoder Data

Ack Start 0

Position (bits)

Err W

CRC (6 bits)

Timeout

Bit allocation per encoder-resolution 17bit 18bit 19bit 20bit
27 28 29 30 Ack
26 27 28 29 Start 25 26 27 28 “0” 8…24 8…25 8…26 8…27 AP

Description
Period during which the encoder calculates the absolute position, one clock cycle Encoder signal for “start” data transmit “Start” bit follower Absolute Position encoder data

Default Length

0

1/clock

1

1 bit

0

1 bit

Per resolution

7

7

7

7

Error BIT (Built In Test option)

1

6

6

6

6

Warn. Warning (non active)

1

0…5 0…5 0…5 0…5 CRC

The CRC polynomial for position, error and warning data is: x6 + x1 + x0. It is transmitted MSB first and inverted. The start bit and “0” bit are omitted from the CRC calculation.

Timeout Elapse between the sequential “start”request cycle’s

1 bit 1 bit 6 bits
25 s

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11.4 Setup mode over NCP (Netzer Communication Protocol)
This service mode provides access via USB to a PC running Netzer Encoder Explorer application (on MS Windows 7/10). Communication is via Netzer Communication Protocol (NCP) over RS-422 using the same set of wires.
Use the following pin assignment to connect the encoder to a 9-pin D-type connector to the RS-422/USB converter CNV-0003 or the NanoMIC.

Electric encoder interface, D Type 9 pin Female

Description

Color

Function

Gray SSi Clock / NCP RX
Blue

Clock / RX + Clock / RX –

SSi Data / NCP TX

Yellow Green

Data / TX Data / TX +

Ground

Black

GND

Power supply

Red

+5V

Pin No 2 1 4 3 5 8

Setup USB

Blue Box or
USB
NanoMIC

Electric Encoder

Setup SSI / BiSS

Electric Encoder

Connect Netzer encoder to the converter, connect the converter to the computer and run the Electric Encoder Explorer Software Tool

11.5 Electrical connection and grounding
Observe the following grounding consideration: 1. The cable shield electrically floating (unconnected) by default.
2. Make sure the chassis is grounded.
3. It’s highly recommended to keep the motor PWM wires electrically shielded and/or kept away from the encoder.
Note: 4.75 to 5.25 VDC power supply required

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12. Signal Verification
12.1 Starting the Encoder Explorer
Make sure to complete the following tasks successfully: Mechanical Mounting Electrical Connection to the encoder Encoder Explore Software Installation
Run the Encoder Explorer tool (EE)
Ensure proper communication with the encoder: (Setup mode by default). The Encoder position-dial is colored blue when in Setup Mode, either through the NanoMic or the BlueBox (a). Note that the operational mode is not available through the BlueBox (b). The Signal amplitude bar indicates whether the signal is within the acceptable tolerance (c) . Note that prior to performing the Signal Verification process the bar could indicate an out of tolerance signal (d). Encoder data is displayed in the encoder data area (CAT No., Serial No.) (e). The position dial display responds to shaft rotation (f ).

a f

b e
c

d
It is important to perform the Signal Verification process prior to the calibration of the encoder to ensure optimal performance.

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12.2 Signal verification process
The Signal Verification process ensures that the encoder is mounted correctly and provides good signal amplitudes. This is performed by collecting raw data of the fine and coarse channels during rotation. Select on the main screen (a).
a
Select to initiate the process (b).
b Rotate the shaft in order to collect the fine and coarse channels data (c).
c

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If the process is successful, the status “Signal verification successful” would appear (d). The `amplitude circle’ would be centered between the two green circles, preferably in the middle of the tolerance (e).
d

e
Note however, that mounting the encoder towards the extreme mechanical tolerances might cause the amplitude circle to be offset from the exact middle of the nominal position. If the signal is out of tolerance the Error notification “Amplitude is lower/higher than the min/max limit of XXX” would appear (g). In Addition, the status “Signal verification failed ­ perform calibration amplitude” would appear at the top (h).
h

g
Stop the process and re-mount the encoder, making sure that the mechanical installation tolerances are not exceeded, removing or adding shims as required.
Repeat the Signal Verification process after the remount. Once the signal verification process is successfully completed, proceed to the encoder calibration phase, Section 13

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13. Calibration

The VLX encoders include several options for performing calibration: ‘Push- Button’ Calibration Auto-calibration Manual Calibration

13.1 `Push-Button’ calibration
This simple calibration procedure is possible once the encoder is mounted and connected to the application, without using the Encoder Explorer software or connecting to a PC.

In this calibration procedure, the zero point cannot be changed ans is set at the factory default zero point.

It is not possible to use the Push-Button calibration if the encoder rotation sector is less than 360 degrees.

13.1.1 `Push-Button’ calibration process

Connect a 5V power supply to the encoder and the calibration process can be started.

(b)

Upon power connection the LED should continuously blink green.

This means the encoder is ready for calibration

Press the Push-Button (a) for 5 seconds.

Continuously rotate the rotor for about 10-20 seconds.

The LED will blink alternately red & green (b).

When the LED is showing constant green the calibration process has ended successfully.

If the LED blinks red this means that the calibration process failed. In case of failure – refer to the troubleshoot table below:

(a)

No. of blinks Calibration step with error

1

Noisy electrical environment

2

1. Signal Amplitude out of tolerance

2. Offsets cannot be calibrated

3

1. Rotation speed too high for

calibration process

2. Process timed-out

Recommended corrective action
1. Improve grounding 2. Repeat calibration process 1. Check Amplitudes via Encoder Explorer. (See Section 12) 2. Correct the mechanical installation and remount encoder 3. Repeat calibration process
Repeat calibration process at lower speed

If `Push Button’ calibration repeatedly fails after the applying the corrective actions, revert to the auto or manual calibration processes (sections 13.2 & 13.3).
If calibration still fails ­ contact Netzer support department.

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13.2 Auto-calibration
Auto Calibration is supported by encoders with FW 4 version 4.1.3 or higher. For these encoders an additional “Auto-calibration” button is displayed.

13.2.1 Auto-calibration process
The Auto-calibration process consists of three stages:
1. Jitter test – evaluates the electric noise for the Fine, Medium, and Coarse encoder channels. During the jitter test, the shaft must be stationary. Attention! The Pass/Fail criteria of the Jitter test is according to very strict factory criteria and failing it would abort the Auto Calibration process. However, the manual Jitter test as part of the Manual Calibration process in section 13.4, would enable the user to decide whether the jitter is acceptable to its needs.
2. Offset calibration – performs the offset calibration, the shaft must rotate continuously.
3. Absolute Position (AP) calibration – performs Coarse Amplitude Alignment (CAA) and Medium Amplitude Alignment (MAA) are calculated.
During Auto-Calibration process the encoder’s Zero-Position remain in the factory default zero position for new encoders. It is possible to set the Zero Point through the top menu bar, by selecting “Calibration” tab, and clicking “Set UZP” as defined in section 13.3.

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13.2.2 Performing Auto-calibration
Press the button. The main auto-calibration window opens. Select the appropriate measurement range applicable to your application (a).
a
Make sure to keep the shaft still and press the The Noise test would be performed and upon successful completion the “Noise test”label will be marked with a green check mark. The Offset calibration would automatically start upon completion of the Noise test. This calibration requires that the shaft be rotated continuously. The AP calibration would automatically start upon completion of the Accuracy Calibration. Continue rotating the shaft in this phase until the AP calibration is completed, and the encoder is reset. Once the reset is over, the Auto-calibration process is successfully finished.

c

b

The user can review the calibration results by clicking the button (b). 22 VLX-247-PG-V03

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It is always possible to abort the Auto Calibration process by clicking the