SE2L User’s Manual (SE9Z-B1865)
26
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.
Summary of Contents for SE2L-H05LPC
Page 1: ...SE9Z B1865 SE2L Series Safety Laser Scanner User s Manual...
Page 100: ...SE2L User s Manual SE9Z B1865 99 Figure 7 31 b Function Figure7 31 c Area...
Page 143: ...SE2L User s Manual SE9Z B1865 142 13 External dimension 13 1 SE2L H05LP mm...
Page 144: ...SE2L User s Manual SE9Z B1865 143 13 2 SE2L H05LPC mm...
Page 145: ...SE2L User s Manual SE9Z B1865 144 13 3 Base mounting bracket mm...
Page 146: ...SE2L User s Manual SE9Z B1865 145 13 4 Rear mounting bracket mm...
Page 147: ...SE2L User s Manual SE9Z B1865 146 13 5 Simple base mounting bracket mm...
Page 149: ...SE2L User s Manual SE9Z B1865 148 13 7 Simple rear mounting bracket Long type mm...
Page 150: ...SE2L User s Manual SE9Z B1865 149 13 8 Cover Protection Bracket mm...
