As of June 18, 2008
 
SIZE 15 SERIES TRD-H35A HOLLOW ABSOLUTE MULTI-TURN 33 BIT (Sgl. 17, Mit. 16)
Specification Drawings Adjustment Guide Ordering Information Detailed Information[PDF]


US $390.00
S.R.P. List Price
FEATURES
  • 1.5” O.D. Hollow Shaft Design and Ultra Light Weight 1.0 oz
  • Resolution: 17bit/turn (0 to 131,071 address), 16 bit turns
    (65,536 turns)
  • Response Turn Speed: 6000 RPM (Normal), 10,000 RPM
    (Backup)
  • Metal Disk: Strong in Vibration and Shock
  • Flexible Backup Power Supply System-Priority whichever
    higher voltage from main power supply (5v) or Ext. Battery
    power or Internal backup power supply.
  • EEPROM (memory chip) mounted as a Std. creates writing
    & reading data.
  • Application: Intelligent AC Servo Motors, Industrial Robotics
    Injection Machines, Wafer Transfer Robots in
    Semiconductor
 Specification

Electrical Single Turn
Output Code Pure Binary Code
Resolution 17 bit (0 to 131,071 address)
Speed Max. 6000 rpm (Normal)
Acceleration Max. angle 1.0 x 10 5 rad/S2
Direction of Increase CCW (viewing from encoder
bottom surface).
Margin error ±10"
Position Reproducibility ±1LSB The position reproducibility when
the power is Off-On ±120" (Max).

Electrical Multi-Turn
Output Code Pure Binary Code
Resolution 16 bit (65,526 turns)
Speed Max. 6000 rpm (Normal)
10,000 rpm (Back-up)
Acceleration Max. angle 1.0 x 10 5 rad/S2
Direction of Increase CCW (viewing from encoder
bottom surface).

Mechanical
Moment of Inertia 4.1 x 10-7 kg • m2 (4.1g•cm2)
Axial shaft end play ±0.2mm (.008")
Mass Approx. 40g (1.0oz) (w/o cable)

Environmental
Operation temperature 0-85°C
Storage Temperature 0-85°C
Humidity 35-85% without condensation
Vibration
(10-3000 hz/15' sweep)

Less than 3000hz, 98m/S2
48 hrs each in X,Y,Z direction
Shock (10 times each) 980m/s2 less than 6ms
Protection IP-30 equivalent when using plastic cover.

Electrical
Voltage
Main
Power
External
Battery
Capacitor Voltage
for Internal Backup
Normal Operation
4.75-5.25vDC
N/A
N/A
Backup Operation
0vDC
2.76-4.0vDC
< 2.76vDC
N/A
> 2.76vDC
Non-Operation
0vDC
< 2.76vDC
< 2.76vDC
 
Normal Ope.
Capacitor discharged
Current requirements (5.0Vcc)
120-160mA
130-170mA
Current requirements (3.6V Ext Bat.)
1.0-3.4µA
30-35µA(back up)
Output form Linedriver ADM485 or N65LBC176 equivalent
Frequency Response 13MHz (Normal), 21.8MHz (Ext. Battery)
Serial Data Transfer Cycle 21-41µ s (4 Mbps), 30-62µ s (2.5 Mbps)

Serial Communication
Transmission method Half-duplex serial communication
equivalent to EIA std. RS-485
Transmission code NRZ code
Synchronous method Asynchronous communication
Baud rate

2.5 Mbps/4 Mbps
Command Data
No. of frames		 1 to 4 frames
Frame configuration 18 bits/frame
Transmission error check 3-bit CRC code
Encoder data
No. of frames		 1 frame
Frame configuration 2-4 fields/frame
Field configuration 18 bits/field
Transmission error check 8-bit CRC code
Position data format Binary data 40 bits
ABS ( 0:39)