Angular

encoders
for CNC Machines and High Accuracy Applica t i o n s
 Angular and rotary
encoders
Over 35 years of continuous evolution
 Fagor Automation has been manufacturing high quality angular and rotary encoders
using precision optical technology for more than 35 years.
Over the years Fagor has created, developed and patented systems, components
and technologies that allow us to offer best quality and features over the complete
range of product utilizing innovative production methods.
Hence making Fagor Automation the most efficient alternative in the world of
feedback systems.

Modern facilities and innovative

processes
In order to ensure quality and reliability in all its products Fagor Automation utilizes the most

advanced technology and testing and manufacturing facilities. From centralized computer

control temperature monitoring, cleanliness and relative humidity control, a must for the

feedback system manufacturing process, to laboratories for climate, vibration and EMC

testing to certify the designs.

With state-of-the-art technology

Fagor Automation’s commitment to this technology and quality is evident by creation of

Aotek in 2002, a dedicated research center providing various technological breakthroughs.

This investment has resulted in large number of patents and customized solutions in

electrical, optical and mechanical fields.

PATENT PATENT
PENDING PENDING

Steel-tape tensioner Fringe scanning

 Superior technology and
innovative design
Fagor Automation develops with maximum
professionalism the three cornerstones in encoder
design: optical design, electronic design and
mechanical design that result in a state-of-the-art
product.

Optical design
Projected In the vangard of measurement technologies, Fagor Automation
LED Analyzer Linear light Photodiodes
encoder uses transmission and reflective optics in its range of encoders.

With new scanning techniques, such as the new single-window scanning

technology, more immune to contamination, which is critical for operations

in extreme conditions, and contributes to attaining high quality signals

that minimize interpolation errors, resulting in improved accuracy of the

measurement system.

Electronic design
Fagor Automation uses latest generation integrated electronic

components in their design. Thanks to that, it achieves the optimization of

the signals at high turning speeds, achieving high accuracy and angular

resolution.

Mechanical design
Fagor Automation designs and manufactures the most innovative and

reliable measuring systems using its advanced mechanical designs. These

advanced designs minimize fluid accumulation while facilitating drainage

and provide greater resistance to fluids and better sealing with double-

flanged o-rings with the VITON® material in their composition. In addition,

aid components, such as the markings indicating the positive and

negative counting directions, facilitate installation. These designs, together

air intake
with the materials used – titanium and stainless steel – provide the
sealing o-ring
products with the necessary robustness to ensure the best performance

in different applications.

Enclosed design
The enclosed design protects the graduated glass disc.

The O-rings protect the encoder from powder and liquid splashes as

the optical elements move along the encoder. The reader head and the

graduated disc make up a balanced tandem accurately capturing and

transmitting the position and movement of the machine. The optical

elements move with low friction. The air intake option increases the

graduated disc encoder body in stainless steel

degree of protection against powder and fluids.
Quality

Accuracy
certificate
Every single Fagor encoder is subjected to an

extensive final accuracy check. This control is

carried out on a computerized measuring bench

equipped with a laser interferometer located inside

a climate controlled chamber at 20°C. The resulting

final accuracy graph is supplied with every Fagor

encoder.

The quality of the measurement is

mainly determined by:
•  Etching quality

•  The quality of the scanning process

•  The quality of the electronics that processes the

signals

7
ABSOLUTE
Technology and range  ................................................ 10
Signals  ................................................................................................. 12

H2A-D200i100 series  ........................................... 14

H2A-D200 series  . .......................................................... 16
H2A-D90 series  . ............................................................... 18
S2A-D170 series  ............................................................ 20
S2A-D90 series  ................................................................. 22
H2A-D87 series  . ............................................................... 24

Cables and extension cables  ........................... 26

INCREMENTAL
Technology and range  ................................................. 30
Signals  .................................................................................................. 32

H2-D200 series  . ............................................................... 34

H2-D90 series  ....................................................................... 36
S2-D170 series  .................................................................. 38
S2-D90 series  ....................................................................... 40
H series  .............................................................................................. 42
S series  . ............................................................................................. 42

Cables and extension cables  ............................ 44

Accessories ................................................................................ 48
 A B S O L U T E

Range
Series Section
Analyze the application to make sure that
the proper encoder will be selected for the 38,3

machine.
To do this, bear in mind the following considerations:
H2A-D200i100
Installation: This point considers the physical dimensions of
the installation and the space available for it.
38,3
It is essential to determine its type of shaft: Hollow or solid.

Accuracy: Each encoder is supplied with a graph showing H2A-D200

the accuracy of the angular encoder.

Signal: The signal selection considers the communication

protocols compatible with the main CNC manufacturers.

Resolution: The resolution of the control of machine-tools H2A-D90

depends on the encoder.

Cable length: The length of the cable depends on the type

of signal.

Compatibility: The signal must be compatible with the S2A-D170

control system.

Speed: The speed requirements for the application must be

analyzed before choosing the encoder.

Shock and Vibration: Fagor’s angular encoders can S2A-D90

withstand vibrations of up to 100 m/s2 and impacts of up to
1000 m/s2.
49

H2A-D87

87
Technology
The absolute measurement system is a
direct digital measure of machine position.
It is fast, accurate and does not require absolute graduation incremental graduation
homing of the machine. The position value
is available from the moment the machine
is turned on and may be requested by the
connected device (CNC) at any time.
The absolute encoders provide direct measure of machine
position without using any intermediate device. The errors
originated in the mechanics of the machine are avoided
because the encoder is mounted on the machine axis and
sends the real movement data to the controller; some of
the potential sources of error, such as those caused by the
thermal behavior of the machine, may be minimized using
encoders.

Angular and rotary

encoders
Angular encoders are used as angular movement sensors on
machines that require high resolution and high accuracy.
Fagor angular encoders reach 29-bit angular resolution
equivalent to 536 870 912 positions and accuracy levels of
± 5”, ± 2.5”, ± 2” and ± 1” depending on the model. In them,
the graduated disk of the measuring system is attached
directly to the shaft. They have bearings and couplings that
serve as guide and adjustment.

10
 Type of shaft Accuracy Signals Model Page
SSI + 1 Vpp FAGOR / SIEMENS (*) ®
H2A / H2AS
± 1” FANUC® / MITSUBISHI® / PANASONIC® / FAGOR H2AF / H2AM / H2AP / H2AD
Hollow shaft 14
± 2” SIEMENS® (*) H2AD + EC-PA-DQ1
BiSS® H2AB
SSI + 1 Vpp FAGOR / SIEMENS (*) ®
H2A / H2AS
± 1” FANUC / MITSUBISHI / PANASONIC / FAGOR
® ® ®
H2AF / H2AM / H2AP / H2AD
Hollow shaft 16
± 2” SIEMENS® (*) H2AD + EC-PA-DQ1
BiSS® H2AB
SSI + 1 Vpp FAGOR / SIEMENS (*) H2A / H2AS
± 2.5” FANUC / MITSUBISHI / PANASONIC / FAGOR
® ® ®
H2AF / H2AM / H2AP / H2AD
Hollow shaft 18
± 5” SIEMENS® (*) H2AD + EC-PA-DQ1
BiSS® H2AB
SSI + 1 Vpp FAGOR / SIEMENS® (*) S2A / S2AS
FANUC / MITSUBISHI / PANASONIC / FAGOR
® ® ®
S2AF / S2AM / S2AP / S2AD
Solid shaft ± 2” 20
SIEMENS® (*) S2AD + EC-PA-DQ1
BiSS® S2AB
SSI + 1 Vpp FAGOR / SIEMENS (*) ®
S2A / S2AS
± 2.5” FANUC® / MITSUBISHI® / PANASONIC® / FAGOR S2AF / S2AM / S2AP / S2AD
Solid shaft 22
± 5” SIEMENS® (*) S2AD + EC-PA-DQ1
BiSS® S2AB

Hollow shaft ± 10” FANUC® H2AF 24

(*)  SIEMENS®:  valid for family Solution Line.

Couplings, besides minimizing the static and dynamic

Graduated glass disk deviations, compensate for axial movements of the shaft
providing easier mounting, smaller size and the possibility of
receiving photo-diodes reticule plano-convex lens incremental LED
hollow shafts.
Fagor Automation uses the graduated glass measuring
absolute sensor method in its absolute angular and rotary encoders The
absolute
LED light from the LED goes through an engraved glass and a
reticule before reaching the receiving photo diodes. The
measurement is made based on the pitch determined by the
number of pulses/turn.
This measuring method have two different etchings:
incremental
graduation •  Incremental graduation: Used to generate incremental
signals that are counted inside the reader head. The
absolute
graduation
incremental graduation also provides the 1 Vpp analog
signals except in systems that only use digital signals.
• Absolute graduation: It is a binary code with a special
sequence that avoids repetition. On Fagor absolute
encoders, the absolute position is calculated using the
graduated glass disk
data of that code read by means of a high precision optical
sensor.

11
 A B S O L U T E

Electrical output signals

They are defined according to the communication protocol. Protocols are specific communication languages used by linear encoders
to communicate with the machine controller (CNC, drive, PLC, etc.). There are different communication protocols depending on the
CNC manufacturer. Fagor Automation offers absolute encoders with different communication protocols compatible with the main CNC
manufacturers on the market such as FAGOR, FANUC®, SIEMENS®, MITSUBISHI®, PANASONIC® and others.

absolute 1 Vpp differential

Clock frequency

FAGOR systems
Fagor FeeDat® Serial Interface
These systems only use digital signals.
The absolute encoder is connected via the SERCOS board.
A high communication speed of 10 MHz provides a loop time
of 10 microseconds. Communication also includes alarms,
analog signal values and other encoder parameters.
Fagor FeeDat® is an open communication protocol that
is also used to communicate with other CNC system
manufacturers.

SERCOS counter board

SIEMENS® systems
DRIVE-CLiQ® Interface
These systems only use digital signals.
The absolute encoder is connected through a cable having
the electronics integrated into the connector and it is
connected to the “Solution Line” family without the need for
intermediate modules.

Sistemas FANUC® MITSUBISHI® systems

Serial Interface for position feedback encoder High Speed Serial Interface - HSSI
These systems only use digital signals. The absolute encoder These systems only use digital signals. The absolute encoder
is connected through the SDU (Separate Detector Unit) is connected through the MDS Series drive and it is valid for
device and is valid for communication protocol versions MITSUBISHI® communication protocol versions Mit 03-2/4.
FANUC® 01, 02 and αi serial interface.

12
PANASONIC® systems
Serial Communication
These systems only use digital signals. These systems only use digital
signals. The absolute encoder is connected through the MINAS series
drive.
•  The systems can be connected to linear motors, rotary motors and DD
motors.
•  Automatic drive/motor matching software available.
•  Vibration, resonance suppression filters available with setting done
automatically / manually.
•  Drive range from 50 W to 15 kW at AC 100 V / 200 V / 400 V. PANASONIC® systems
A5 series
•  Safety Torque Off feature available.

Systems with SSI or BiSS®

The SSI or BiSS® communication interfaces are widely implemented among manufacturers of drive and control systems (FAGOR,
SIEMENS®, etc.). These systems and the absolute encoders with SSI or BiSS® interfaces can be connected as long as they are
compatible.

1.  Systems with Serial Synchronous Interface - SSI

These systems synchronize the SSI interface with the sinusoidal 1 Vpp signals. Once the absolute position has been obtained through
the SSI interface, the encoders keep operating with incremental 1 Vpp signals.

A.  FAGOR systems

ABSOLUTE signals 1 Vpp  DIFFERENTIAL signals
Transmission SSI synchronous serial transfer via RS 485 Signals A, /A, B, /B
Levels EIA RS 485 VApp 1 V +20%, -40%
Clock frequency 100 kHz - 500 kHz VBpp 1 V +20%, -40%
Max. bit (n) 32 DC offset 2.5 V ±0.5 V
T 1 µs + 10 µs Signal period 20, 40 µm
t 1 > 1 µs Supply V 5 V ±10%
t 2 20 µs - 35 µs Max. cable length 75 meters
SSI Binary A, B centered: |V1-V2| / 2 Vpp < 0.065
Parity No A&B relationship VApp / VBpp 0.8÷1.25
A&B phase shift 90°±10°

B.  SIEMENS® Systems

The connection of absolute encoders to SIEMENS® systems is made through the SME 25 or SMC 20 modules of the Solution Line
family.

ABSOLUTE signals 1 Vpp  DIFFERENTIAL signals

Transmission SSI synchronous serial transfer via RS 485 Signals A, /A, B, /B
Levels EIA RS 485 VApp 1 V +20%, -40%
Clock frequency 100 kHz - 500 kHz VBpp 1 V +20%, -40%
Max. bit (n) 28 DC offset 2.5 V ±0.5 V
T 1 µs + 10 µs Signal period 20, 40 µm
t 1 > 1 µs Supply V 5 V ±10%
t 2 20 µs - 35 µs Max. cable length 100 meters
SSI Gray A, B centered: |V1-V2| / 2 Vpp < 0.065
Parity Yes A&B relationship VApp / VBpp 0.8÷1.25
A&B phase shift 90°±10°

C.  Other systems

Please contact FAGOR for information on compatibility of the encoders with other systems.

2.  Systems with BiSS® interface

These systems use digital + 1 Vpp sinusoidal signals or only digital signals.
The absolute encoder with BiSS® C BP3 protocol is compatible with BiSS® C Unidirectional.
The absolute encoder is connected to the drive or system with BiSS® C BP3 or BiSS® C unidirectional interface. Please contact FAGOR
for information on compatibility of the encoders with these systems.

13
 A B S O L U T E

H2A-D200i100 series

Model description:
H2A: Absolute angular encoders with SSI protocol for FAGOR and
others.
H2AS: Absolute angular encoders with SSI protocol for SIEMENS®
(Solution Line).
H2AF: Absolute angular encoders with FANUC® (01, 02 and αi)
protocol.
H2AM: Absolute angular encoders with MITSUBISHI® CNC protocol.
H2AP: Absolute angular encoders with PANASONIC® (Matsushita)
protocol.
H2AD: Absolute angular encoders with FeeDat® protocol for FAGOR and
others.
H2AD + EC-PA-DQ1: Absolute angular encoders with DRIVE-CLiQ®
protocol, for SIEMENS® (Solution Line).
H2AB: Absolute angular encoders with BiSS® protocol.

Characteristics
H2A H2AS H2AF

Measurement By means of graduated glass disk

± 1 arc-second
Accuracy ± 2 arc-seconds
Output signals 1 Vpp 1 Vpp –
Resolution / 27 bits (134 217 728 positions)
   
27 bits (134 217 728 positions)
   
29 bits (536 870 912 positions)
Maximum number of positions per turn 1 Vpp: 32 768 pulses/ turn 1 Vpp: 32 768 pulses/ turn
Maximum frequency 180 kHz for 1 Vpp signal 180 kHz for 1 Vpp signal –

Maximum electrical speed < 300 min-1 < 300 min-1 < 750 min-1

Natural frequency > 500 Hz

Supply 5 V (3.6...5.25); < 250 mA (without load)

Maximum cable length 75 m (*) 100 m 30 m

Maximum mechanical speed 1000 min-1

Inertia 10 000 g/cm2

Turning torque < 0.5 Nm

Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

Shock 1000 m/s2 (6 ms) IEC 60068-2-27

Operating temperature 0ºC … 50ºC

Storage temperature -30ºC ... 80ºC

Weight 3.2 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

14
 Dimensions in mm

15
,5 ø5,75x4 90º
R1 0.25 B
2

A 88
ø1

89
,58 20º
M4 x 0,7 X 7

60
0.2 C

º
32º

ø10
6

ABSOLUTE
Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  H2AF-29-D200i100-1

H2 A F 29 D200 i100 1
Type of shaft: Letter Type of communications protocol: Absolute positions per turn: Outside diameter: Inside diameter: Accuracy:
identifying
• H2: Hollow • Blank space: SSI protocol (FAGOR) • 29 bits • D200: 200 mm • i100: 100 mm • 2: ± 2” arc-seconds
the absolute
shaft encoder • D: FeeDat® protocol (FAGOR)(*) (536 870 912 positions) • 1: ± 1” arc-second
• S: SSI SIEMENS® (SL) protocol • 26 bits
• F: FANUC® (01 and 02 and αi) protocol (67 108 864 positions)
• M: MITSUBISHI® CNC protocol • 27 bits
• P: PANASONIC® (Matsushita) protocol (134 217 728 positions)
• B: BiSS® protocol

(*)  plus EC-PA-DQ1 with DRIVE-CLiQ® protocol for SIEMENS® (Solution Line)
Notes:  Not all protocol, positions per turn and accuracy combinations are possible. Please consult with Fagor Automation for a list models.

H2AD +
H2AM H2AP H2AD H2AB
EC-PA-DQ1

By means of graduated glass disk

± 1 arc-second
± 2 arc-seconds
– – – – –

29 bits (536 870 912 positions) 29 bits (536 870 912 positions) 29 bits (536 870 912 positions) 29 bits (536 870 912 positions) 26 bits (67 108 864 positions)

– – – –

< 750 min-1 < 750 min-1 < 750 min-1 < 750 min-1 < 750 min-1

> 500 Hz

5 V (3.6...5.25); < 250 mA (without load)

30 m 30 m 100 m 30 m 30 m (*)

1000 min-1

10 000 g/cm2

< 0.5 Nm

100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

1000 m/s2 (6 ms) IEC 60068-2-27

0ºC … 50ºC

-30ºC ... 80ºC

3.2 kg
IP 64 DIN 40050 (standard)
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
With built-in connector
(*)  contact Fagor Automation for other lengths.

15
 A B S O L U T E

H2A-D200 series

Model description:
H2A: Absolute angular encoders with SSI protocol for FAGOR and
others.
H2AS: Absolute angular encoders with SSI protocol for SIEMENS®
(Solution Line).
H2AF: Absolute angular encoders with FANUC® (01, 02 and αi)
protocol.
H2AM: Absolute angular encoders with MITSUBISHI® CNC protocol.
H2AP: Absolute angular encoders with PANASONIC® (Matsushita)
protocol.
H2AD: Absolute angular encoders with FeeDat® protocol for FAGOR and
others.
H2AD + EC-PA-DQ1: Absolute angular encoders with DRIVE-CLiQ®
protocol, for SIEMENS® (Solution Line).
H2AB: Absolute angular encoders with BiSS® protocol.

Characteristics
H2A H2AS H2AF

Measurement By means of graduated glass disk

± 1 arc-second
Accuracy ± 2 arc-seconds
Output signals 1 Vpp 1 Vpp –
Resolution / 27 bits (134 217 728 positions)
   
27 bits (134 217 728 positions)
   
29 bits (536 870 912 positions)
Maximum number of positions per turn 1 Vpp: 32 768 pulses/ turn 1 Vpp: 32 768 pulses/ turn
Maximum frequency 180 kHz for 1 Vpp signal 180 kHz for 1 Vpp signal –

Maximum electrical speed < 300 min-1 < 300 min-1 < 750 min-1

Natural frequency > 1000 Hz

Supply 5 V (3.6...5.25); < 250 mA (without load)

Maximum cable length 75 m (*) 100 m 30 m

Maximum mechanical speed 1000 min-1

Inertia 10 000 g/cm2

Turning torque < 0.5 Nm

Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

Shock 1000 m/s2 (6 ms) IEC 60068-2-27

Operating temperature 0ºC … 50ºC

Storage temperature -30ºC ... 80ºC

Weight 3.2 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

16
 Dimensions in mm

15 ø5,75x4 90º
,51
R1 0.25 B
2

88
32º 89
,59 ø1

ø66

ABSOLUTE
M4 x 0,7 X 7
0.2 C

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  H2AF-29-D200-1

H2 A F 29 D200 1
Type of shaft: Letter identifying the Type of communications protocol: Absolute positions per turn: Outside diameter: Accuracy:
absolute encoder
• H2: Hollow shaft • Blank space: SSI protocol (FAGOR) • 29 bits • D200: 200 mm • 2: ± 2” arc-seconds
• D: FeeDat® protocol (FAGOR)(*) (536 870 912 positions) • 1: ± 1” arc-second
• S: SSI SIEMENS® (SL) protocol • 26 bits
• F: FANUC® (01 and 02 and αi) protocol (67 108 864 positions)
• M: MITSUBISHI® CNC protocol • 27 bits
• P: PANASONIC® (Matsushita) protocol (134 217 728 positions)
• B: BiSS® protocol

(*)  plus EC-PA-DQ1 with DRIVE-CLiQ® protocol for SIEMENS® (Solution Line)
Notes:  Not all protocol, positions per turn and accuracy combinations are possible. Please consult with Fagor Automation for a list models.

H2AD +
H2AM H2AP H2AD H2AB
EC-PA-DQ1

By means of graduated glass disk

± 1 arc-second
± 2 arc-seconds
– – – – –

29 bits (536 870 912 positions) 29 bits (536 870 912 positions) 29 bits (536 870 912 positions) 29 bits (536 870 912 positions) 26 bits (67 108 864 positions)

– – – –

< 750 min-1 < 750 min-1 < 750 min-1 < 750 min-1 < 750 min-1

> 1000 Hz

5 V (3.6...5.25); < 250 mA (without load)

30 m 30 m 100 m 30 m 30 m (*)

1000 min-1

10 000 g/cm2

< 0.5 Nm

100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

1000 m/s2 (6 ms) IEC 60068-2-27

0ºC … 50ºC

-30ºC ... 80ºC

3.2 kg
IP 64 DIN 40050 (standard)
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
With built-in connector
(*)  contact Fagor Automation for other lengths.

17
 A B S O L U T E

H2A-D90 series

Model description:
H2A: Absolute angular encoders with SSI protocol for FAGOR and
others.
H2AS: Absolute angular encoders with SSI protocol for SIEMENS®
(Solution Line).
H2AF: Absolute angular encoders with FANUC® (01, 02 and αi)
protocol.
H2AM: Absolute angular encoders with MITSUBISHI® CNC protocol.
H2AP: Absolute angular encoders with PANASONIC® (Matsushita)
protocol.
H2AD: Absolute angular encoders with FeeDat® protocol for FAGOR and
others.
H2AD + EC-PA-DQ1: Absolute angular encoders with DRIVE-CLiQ®
protocol, for SIEMENS® (Solution Line).
H2AB: Absolute angular encoders with BiSS® protocol.

Characteristics
H2A H2AS H2AF

Measurement By means of graduated glass disk

± 2.5 arc-seconds
Accuracy ± 5 arc-seconds
Output signals 1 Vpp 1 Vpp –
Resolution / 23 bits (8 388 608 positions)
   
23 bits (8 388 608 positions)
   
27 bits (134 217 728 positions)
Maximum number of positions per turn 1 Vpp: 16 384 pulses/ turn 1 Vpp: 16 384 pulses/ turn
Maximum frequency 180 kHz for 1 Vpp signal 180 kHz for 1 Vpp signal –

Maximum electrical speed < 1500 min-1

Natural frequency > 1000 Hz

Supply 5 V (3.6...5.25); < 250 mA (without load)

Maximum cable length 75 m (*) 100 m 30 m

Maximum mechanical speed 3000 min-1

Inertia 650 g/cm2

Turning torque < 0.5 Nm

Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

Shock 1000 m/s2 (6 ms) IEC 60068-2-27

Operating temperature 0ºC … 50ºC

Storage temperature -30ºC ... 80ºC

Weight 1 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

18
 15
Dimensions in mm

,6

-0 0
,5
0
ø 11 ±0
,2
00
ø1

M3 x 0,5 X 4
0
92,5 -1

0,3 A
ø 2,5
ø 35

ABSOLUTE
R10
º
10
4,
5

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  H2AF-27-D90-2

H2 A F 27 D90 2
Type of shaft: Letter identifying the Type of communications protocol: Absolute positions per turn: Outside diameter: Accuracy:
absolute encoder
• H2: Hollow shaft • Blank space: SSI protocol (FAGOR) • 23 bits (8 388 608 positions) • D90: 90 mm • Blank space: ± 5” arc-seconds
• D: FeeDat® protocol (FAGOR)(*) • 26 bits (67 108 864 positions) • 2: ± 2.5” arc-seconds
• S: SSI SIEMENS® (SL) protocol • 27 bits (134 217 728 positions)
• F: FANUC® (01 and 02 and αi) protocol
• M: MITSUBISHI® CNC protocol
• P: PANASONIC® (Matsushita) protocol
• B: BiSS® protocol

(*)  plus EC-PA-DQ1 with DRIVE-CLiQ® protocol for SIEMENS® (Solution Line)
Notes:  Not all protocol, positions per turn and accuracy combinations are possible. Please consult with Fagor Automation for a list models.

H2AD +
H2AM H2AP H2AD H2AB
EC-PA-DQ1

By means of graduated glass disk

± 2.5 arc-seconds
± 5 arc-seconds
– – – – –

27 bits (134 217 728 positions) 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 27 bits (134 217 728 positions) 26 bits (67 108 864 positions)

– – – – –

< 1500 min-1

> 1000 Hz

5 V (3.6...5.25); < 250 mA (without load)

30 m 30 m 100 m 30 m 30 m (*)

3000 min-1

650 g/cm2

< 0.5 Nm

100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

1000 m/s2 (6 ms) IEC 60068-2-27

0ºC … 50ºC

-30ºC ... 80ºC

1 kg
IP 64 DIN 40050 (standard)
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
With built-in connector
(*)  contact Fagor Automation for other lengths.

19
 A B S O L U T E

S2A-D170 series

Model description:
S2A: Absolute angular encoders with SSI protocol for FAGOR and
others.
S2AS: Absolute angular encoders with SSI protocol for SIEMENS®
(Solution Line).
S2AF: Absolute angular encoders with FANUC® (01, 02 and αi)
protocol.
S2AM: Absolute angular encoders with MITSUBISHI® CNC protocol.
S2AP: Absolute angular encoders with PANASONIC® (Matsushita)
protocol.
S2AD: Absolute angular encoders with FeeDat® protocol for FAGOR and
others.
S2AD + EC-PA-DQ1: A
 bsolute angular encoders with DRIVE-CLiQ®
protocol, for SIEMENS® (Solution Line).
S2AB: Absolute angular encoders with BiSS® protocol.

Characteristics
S2A S2AS S2AF

Measurement By means of graduated glass disk

Accuracy ± 2 arc-seconds

Output signals 1 Vpp 1 Vpp –

Resolution / 23 bits (8 388 608 positions) 23 bits (8 388 608 positions)
27 bits (134 217 728 positions)
Maximum number of positions per turn 1 Vpp: 16 384 pulses/ turn 1 Vpp: 16 384 pulses/ turn
Maximum frequency 180 kHz for 1 Vpp signal 180 kHz for 1 Vpp signal –

Maximum electrical speed < 1500 min -1

Supply 5 V (3.6...5.25); < 250 mA (without load)

Maximum cable length 75 m (*) 100 m 30 m

Maximum mechanical speed 3000 min -1

Inertia 350 g/cm2

Turning torque < 0.01 Nm

Axial: 1 Kg
Load on the shaft
Radial: 1 Kg
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

Shock 1000 m/s2 (6 ms) IEC 60068-2-27

Operating temperature 0ºC … 50ºC

Storage temperature -30ºC ... 80ºC

Weight 2.65 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

20
 Dimensions in mm

45º

60
ø1
ø 5,5

90º

43,82

ABSOLUTE
57
7,62

32,55

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  S2AF-27-D170-2

S2 A F 27 D170 2
Type of shaft: Letter identifying the Type of communications protocol: Absolute positions per turn: Outside diameter: Accuracy:
absolute encoder
• S2: Solid shaft • Blank space: SSI protocol (FAGOR) • 23 bits (8 388 608 positions) • D170: 170 mm • 2: ± 2” arc-seconds
• D: FeeDat® protocol (FAGOR)(*) • 26 bits (67 108 864 positions)
• S: SSI SIEMENS® (SL) protocol • 27 bits (134 217 728 positions)
• F: FANUC® (01 and 02 and αi) protocol
• M: MITSUBISHI® CNC protocol
• P: PANASONIC® (Matsushita) protocol
• B: BiSS® protocol
(*)  plus EC-PA-DQ1 with DRIVE-CLiQ® protocol for SIEMENS® (Solution Line)
Notes:  Not all protocol, positions per turn and accuracy combinations are possible. Please consult with Fagor Automation for a list models.

S2AD +
S2AM S2AP S2AD S2AB
EC-PA-DQ1

By means of graduated glass disk

± 2 arc-seconds

– – – – –

27 bits (134 217 728 positions) 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 27 bits (134 217 728 positions) 26 bits (67 108 864 positions)

– – – – –

< 1500 min -1

5 V (3.6...5.25); < 250 mA (without load)

30 m 30 m 100 m 30 m 30 m (*)

10000 min -1

250 g/cm2

< 0.01 Nm
Axial: 1 Kg
Radial: 1 Kg
100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

1000 m/s2 (6 ms) IEC 60068-2-27

0ºC … 50ºC

-30ºC ... 80ºC

2.65 kg
IP 64 DIN 40050 (standard)
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
With built-in connector

(*)  contact Fagor Automation for other lengths.

21
 A B S O L U T E

S2A-D90 series

Model description:
S2A: Absolute angular encoders with SSI protocol for FAGOR and
others.
S2AS: Absolute angular encoders with SSI protocol for SIEMENS®
(Solution Line).
S2AF: Absolute angular encoders with FANUC® (01, 02 and αi)
protocol.
S2AM: Absolute angular encoders with MITSUBISHI® CNC.
S2AP: Absolute angular encoders with PANASONIC® (Matsushita)
protocol.
S2AD: Absolute angular encoders with FeeDat® protocol for FAGOR and
others.
S2AD + EC-PA-DQ1: A
 bsolute angular encoders with DRIVE-CLiQ®
protocol, for SIEMENS® (Solution Line).
S2AB: Absolute angular encoders with BiSS® protocol.

Characteristics
S2A S2AS S2AF

Measurement By means of graduated glass disk

± 2.5 arc-seconds
Accuracy ± 5 arc-seconds
Output signals 1 Vpp 1 Vpp –
Resolution / 23 bits (8 388 608 positions) 23 bits (8 388 608 positions)
27 bits (134 217 728 positions)
Maximum number of positions per turn 1 Vpp: 16 384 pulses/ turn 1 Vpp: 16 384 pulses/ turn
Maximum frequency 180 kHz for 1 Vpp signal 180 kHz for 1 Vpp signal –

Maximum electrical speed < 1500 min -1

Supply 5 V (3.6...5.25); < 250 mA (without load)

Maximum cable length 75 m (*) 100 m 30 m

Maximum mechanical speed 10000 min -1

Inertia 250 g/cm2

Turning torque < 0.01 Nm

Axial: 1 Kg
Load on the shaft
Radial: 1 Kg
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

Shock 1000 m/s2 (6 ms) IEC 60068-2-27

Operating temperature -20ºC … 70ºC (5”); 0ºC … 50ºC (2.5”)

Storage temperature -30ºC ... 80ºC

Weight 0.8 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

22
 32
,8
5
24 ,34
Dimensions in mm

,1
0.08A

4
17
R10

19,8 -10

B
45º A
0
92,5 -1

79,46 h7

10 h6

-1
0
89,73

ABSOLUTE
0.01A
R2,25
0
-1
10
ø1 º
10

0.08B
3 ± 0,2
,2
±0
00

13
ø1

+1
Note:  more detailed information on the installation in the manual 41,95 0

Order identification
Example of Angular Encoder:  S2AF-27-D90-2

S2 A F 27 D90 2
Type of shaft: Letter identifying the Type of communications protocol: Absolute positions per turn: Outside diameter: Accuracy:
absolute encoder
• S2: Solid shaft • Blank space: SSI protocol (FAGOR) • 23 bits (8 388 608 positions) • D90: 90 mm • B lank space: ± 5” arc-seconds
• D: FeeDat® protocol (FAGOR)(*) • 26 bits (67 108 864 positions) • 2: ± 2.5” arc-seconds
• S: SSI SIEMENS® (SL) protocol • 27 bits (134 217 728 positions)
• F: FANUC® (01 and 02 and αi) protocol
• M: MITSUBISHI® CNC protocol
• P: PANASONIC® (Matsushita) protocol
• B: BiSS® protocol

(*)  plus EC-PA-DQ1 with DRIVE-CLiQ® protocol for SIEMENS® (Solution Line)
Notes:  Not all protocol, positions per turn and accuracy combinations are possible. Please consult with Fagor Automation for a list models.
For a different number of positions per turn, please contact Fagor Automation.

S2AD +
S2AM S2AP S2AD S2AB
EC-PA-DQ1

By means of graduated glass disk

± 2.5 arc-seconds
± 5 arc-seconds
– – – – –

27 bits (134 217 728 positions) 23 bits (8 388 608 positions) 27 bits (134 217 728 positions) 27 bits (134 217 728 positions) 26 bits (67 108 864 positions)

– – – – –

< 1500 min -1

5 V (3.6...5.25); < 250 mA (without load)

30 m 30 m 100 m 30 m 30 m (*)

10000 min -1

250 g/cm2

< 0.01 Nm
Axial: 1 Kg
Radial: 1 Kg
100 m/s2 (55 … 2000 Hz) IEC 60068-2-6

1000 m/s2 (6 ms) IEC 60068-2-27

-20ºC … 70ºC (5”); 0ºC … 50ºC (2.5”)

-30ºC ... 80ºC

0.8 kg
IP 64 DIN 40050 (standard)
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
With built-in connector
(*)  contact Fagor Automation for other lengths.

23
A B S O L U T E

H2A-D87 series
Dimensions in mm

Model description:
H2AF: Absolute angular encoders with FANUC® (01, 02 and αi)
protocol.

Characteristics
H2AF

Measurement By means of graduated glass disk

Accuracy ± 10 arc-seconds
Resolution /
23 bits (8 388 608 positions)
Maximum number of positions per turn
Maximum electrical speed < 1500 min-1
Natural frequency > 1000 Hz
Supply 5 V (3.6...5.25); < 250 mA (without load)
Maximum cable length 30
Maximum mechanical speed 3000 min-1
Inertia 650 g/cm2
Turning torque < 0.1 Nm
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6
Shock 1000 m/s2 (6 ms) IEC 60068-2-27
Operating temperature 0ºC … 70ºC
Storage temperature -30ºC ... 80ºC
Weight 0.8 kg
Protection IP 64 DIN 40050
Connection With cable included

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  H2AF-23-D87i20-F-3FN

H2 A F 23 D87 i20 F 3 FN
Type of shaft: Letter Type of Absolute positions per Outside diameter: Inside diameter: Coupling type: Accuracy: Cable length: Terminal
identifying communications turn: 1:  1 meter connector:
• H2: Hollow • D87: 87 mm • i20: 20mm • F: Mounting •B
 lank space:
the absolute protocol:
shaft • 23 bits flange ± 10 arc-seconds 3:  3 meters • FN: FANUC®
encoder
• F: FANUC® (01, 02 (8 388 608 positions)
and αi) protocol

24
 A B S O L U T E

direct connection cables

SSI connection
UP TO 9 METERS

Connector for direct connection to Fagor Connector for direct connection to Siemens® SMC20
EC…B-D EC-...B-S1
Lengths:  1, 3, 6 and 9 meters Lengths:  1, 3, 6 and 9 meters
SUB D 15 HD connector  (male Pin  ) SUB D 25 connector  (female Pin  )

Pin Signal Color Pin Signal Color

 1 A Green  3 A Green
 2 /A Yellow  4 /A Yellow
 3 B Blue  6 B Blue
 4 /B Red  7 /B Red
 5 Data Grey 15 Data Grey
 6 /Data Pink 23 /Data Pink
 7 Clock Black 10 Clock Black
 8 /Clock Purple 12 /Clock Purple
 9 +5 V Brown  1 +5 V Brown
10 +5 V 14 +5 V
Light green Light green
sensor sensor
11 0V White  2 0V White
12 0V 16 0V
Orange Orange
sensor sensor
15 Ground Internal shield  5 Ground Internal shield
Housing Ground External shield Housing Ground External shield

Connector for direct connection to Siemens® SME25

EC…B-C9
Lengths:  1, 3, 6 and 9 meters
CIRCULAR 17 connector  (male Pin  )

Pin Signal Color

15 A Green
16 /A Yellow
12 B Blue
13 /B Red
14 Data Grey
17 /Data Pink
 8 Clock Black
 9 /Clock Purple
 7 +5 V Brown
 1 +5 V
Light green
sensor
10 0V White
 4 0V
Orange
sensor
11 Ground Internal shield
Housing Ground External shield

26
 FROM 9 METERS ON

For connection to FAGOR:  EC-...B-C9  cable + XC-C8-...F-D  extension cable

For connection to Siemens® SMC20:  EC-...B-C9  cable + XC-C8-....F-S1  extension cable
For connection to Siemens® SME25:  EC-...B-C9  cable + XC-C8-...F-C9  extension cable

ABSOLUTE
EC…B-C9 XC-C8-...F-D   extension cable
Lengths: 1 and 3 meters Lengths:  5, 10, 15, 20 and 25 meters
(consult Fagor Automation for others)
CIRCULAR 17 connector  (female Pin  )
SUB D 15 HD connector  (male Pin  ) SUB D 15 HD connector  (male Pin  )

Pin Signal Color Pin Pin Signal Color

15 A Green 15  1 A Green/Black
16 /A Yellow 16  2 /A Yellow/Black
12 B Blue 12  3 B Blue/Black
13 /B Red 13  4 /B Red/Black
14 Data Grey 14  5 Data Grey
17 /Data Pink 17  6 /Data Pink
 8 Clock Black  8  7 Clock Purple
 9 /Clock Purple  9  8 /Clock Yellow
 7 +5 V Brown  7  9 +5 V Brown/Green
 1 +5 V  1 10 +5 V
Light green Blue
sensor sensor
10 0V White 10 11 0V White/Green
 4 0V  4 12 0V
Orange White
sensor sensor
11 Ground Internal shield 11 15 Ground Internal shield
Housing Ground External shield Housing Housing Ground External shield

XC-C8-...F-S1   extension cable XC-C8-...F-C9   extension cable

Lengths:  5, 10, 15, 20 and 25 meters Lengths:  5, 10, 15, 20 and 25 meters
CIRCULAR 17 connector  (female Pin  ) CIRCULAR 17 connector (female Pin )
SUB D25 connector  (female Pin  ) CIRCULAR 17 connector (male Pin )

Pin Pin Signal Color Pin Pin Signal Color

15  3 A Green/Black 15 15 A Green/Black
16  4 /A Yellow/Black 16 16 /A Yellow/Black
12  6 B Blue/Black 12 12 B Blue/Black
13  7 /B Red/Black 13 13 /B Red/Black
14 15 Data Grey 14 14 Data Grey
17 23 /Data Pink 17 17 /Data Pink
 8 10 Clock Purple  8  8 Clock Purple
 9 12 /Clock Yellow  9  9 /Clock Yellow
 7  1 +5 V Brown/Green  7  7 +5 V Brown/Green
 1 14 +5 V  1  1 +5 V
Blue Blue
sensor sensor
10  2 0V White/Green 10 10 0V White/Green
 4 16 0V  4  4 0V
White White
sensor sensor
11  5 Ground Internal shield 11 11 Ground Internal shield
Housing Housing Ground External shield Housing Housing Ground External shield

27
 A B S O L U T E

direct connection cables

Connection to other CNC’s
UP TO 9 METERS

Connector for direct connection to FANUC® Connector for direct connection to MITSUBISHI®
EC…PA-FN EC...AM-MB
Lengths:  1, 3, 6 and 9 meters Lengths:  1, 3, 6 and 9 meters
HONDA / HIROSE connector  (female Pin  ) 10-pin MOLEX/3M RECTANGULAR  connector  (female Pin  )

Pin Signal Color Pin Signal Color

 1 Data Green  7 SD (MD) Green
 2 /Data Yellow  8 /SD (MD) Yellow
 5 Request Blue  3 RQ (MR) Grey
 6 /Request Red  4 /RQ (MR) Pink
 9 +5 V Brown Brown +
 1 +5 V
purple
18-20 +5 V
Grey White + black
sensor
 2 0V
+ blue
12 0V White
Housing Ground Shield
14 0V
Pink
sensor
16 Ground Shield

Connector for connection with extension cable (M12 H-RJ45)

Connector for direct connection to Panasonic® MINAS A5 to Siemens® Sinamics/Sinumerik
EC-...PA-PN5 EC-...PA-DQ1
Lengths:  1, 3, 6 and 9 meters Lengths:  1, 3, 6 and 9 meters
Panasonic 10 pin  connector  (female Pin  )
Pin Signal
Pin Signal Color 3 RXP

3 Data Green 4 RXN

4 /Data Yellow 6 TXN

1 +5 V Brown + grey 7 TXP

2 0V White + pink 1 Vcc (24 V)

Housing Ground Shield 2 0V

28
 FROM 9 METERS ON
For connection to Fanuc®:  EC... B-C9  cable+ XC-C8... FN  extension cable
For connection to Mitsubishi®:  EC... B-C9-F  cable + XC-C8... MB  extension cable
For connection to Panasonic® MINAS A5:  EC...B-C9  cable + XC-C8-...A-PN5  extension cable
For connection to Siemens®:  EC-...PA-DQ1  cable + (M12 H-RJ45)  extension cable

EC…B-C9 EC-...B-C9-F
Lengths: 1 and 3 meters Lengths: 1 and 3 m with Ferrite
(consult Fagor Automation for others) (consult Fagor Automation for others)

ABSOLUTE
Conector SUB D 15 HD  (Pin macho  ) Conector SUB D 15 HD  (Pin macho  )

Pin Signal Color Pin Signal Color

14 Data Grey 14 Data Grey
17 /Data Pink 17 /Data Pink
 8 Request Black  8 Request Black
 9 /Request Purple  9 /Request Purple
 7 +5 V Brown  7 +5 V Brown
 1 +5 V  1 +5 V
Light green Light green
sensor sensor
10 0V White 10 0V White
 4 0V  4 0V
Orange Orange
sensor sensor
Housing Ground Shield Housing Ground Shield

XC-C8… FN   extension cable XC-C8… MB   extension cable

Lengths:  5, 10, 15, 20 and 25 meters Lengths:  5, 10, 15, 20 and 25 meters
CIRCULAR 17  connector  (female Pin  ) CIRCULAR 17  connector  (female Pin  )
HONDA / HIROSE  connector  (female Pin  ) 10-pin MOLEX/3M RECTANGULAR  connector  (female Pin  )

Pin Pin Signal Color Pin Pin Signal Color

14 1 Data Grey  8 7 SD (MD) Purple
17 2 /Data Pink  9 8 /SD (MD) Yellow
 8 5 Request Purple 14 3 RQ (MR) Grey
 9 6 /Request Yellow 17 4 /RQ (MR) Pink
 7 9 +5 V Brown/Green  7 1 +5 V Brown/Green
 1 18-20 +5 V  1 1 +5 V
Blue Blue
sensor sensor
10 12 0V White/Green 10 2 GND White/Green
 4 14 0V  4 2 0V
White White
sensor sensor
Housing 16 Ground Shield 12 2 SEL Black
Housing Housing Ground Shield

XC-C8-...A-PN5   extension cable

Lengths:  5, 10, 15, 20 and 25 meters

CIRCULAR 17  connector  (female Pin  )

Panasonic 10 pin  connector  (female Pin  )

Pin Pin Signal Color

14 3 Data Grey
17 4 /Data Pink
 7 1 +5 V Brown+Black
 1 1 +5 V Green+
sensor Yellow
10 2 GND White+Purple
 4 2 GND
Blue+Red
sensor
Housing Housing Ground Shield

29
 I N C R E M E N T A L

Range Angular
Analyze the application to make sure that
the proper encoder will be selected for the Series Section
machine. 38,3

To do this, bear in mind the following considerations:

H2-D200
Installation: Consider the physical length of the installation
and the space available for it. It is essential to determine its
type of shaft: Hollow or solid.

Acuracy: Each angular encoder comes with a graph showing H2-D90

its accuracy along its measuring length.

Signal: La selección de la señal considera las siguientes

variables: Resolución, longitud de cable y compatibilidad.
S2-D170
Resolution: The resolution of the control of machine-tools
depends on the angular encoder.

Cable length: The length of the cable depends on the type

of signal.
S2-D90
Speed: The speed requirements for the application must be
analyzed before choosing the linear encoder. Rotary
Shock and Vibration: Fagor angular encoders withstand Series Section
vibrations of up to 100 m/s2 and shocks of up to 1000 m/s2.

Alarm signal: Models H2-D200, H2-D90, S2-D170 and

S2-D90 offer the alarm signal AL.
H

Tecnología
The incremental encoders provide direct Types of incremental encoders
measure of machine position without using •  Angular encoder: Used as an angular movement sensor
any intermediate device. on machines/devices requiring high resolution and
accuracy. Fagor Angular encoders offer from 18 000 to
The positioning errors originating from machine mechanics
360 000 pulses/turn and accuracy levels of ± 5”, ± 2.5”
are minimized as the encoder is directly mounted to the
and ± 2” depending on the model.
machine surface and the guide ways. The encoder sends the
real machine movement data to the CNC and mechanical •  Rotary encoder: Used as a measuring sensor for rotary
errors caused due to thermal behavior of the machine, pitch movements, angular speeds and also linear movement
error compensation and backlash etc. are minimized. when connected to a mechanical device like ball screw.
They are also used on various types of machine tools and
robotic applications.
Measuring Methods
Fagor Automation uses the graduated glass measuring
In them, the graduated disk of the measuring system is
method in its incremental angular and rotary encoders
attached directly to the shaft. They have bearings and
The light from the LED goes through an engraved glass and couplings that serve as guide and adjustment.
a reticule before reaching the receiving photo diodes. The
Couplings, besides minimizing the static and dynamic
measurement is made based on the pitch determined by the
deviations, compensate for axial movements of the shaft
number of pulses/turn.
providing easier mounting, smaller size and the possibility of
hollow shafts.

30
Type of shaft Accuracy Signals Model Page

1 Vpp H2P-D200 / H2OP-D200

Hollow shaft ± 2” 34
TTL H2-D200 / H2O-D200

± 2.5” 1 Vpp H2P-D90 / H2OP-D90

Hollow shaft 36
± 5”
TTL H2-D90 / H2O-D90

1 Vpp S2P-D170 / S2OP-D170

Solid shaft ± 2” 38
TTL S2-D170 / S2O-D170

± 2.5” 1 Vpp S2P-D90 / S2OP-D90

Solid shaft 40
± 5”
TTL S2-D90 / S2O-D90

Type of shaft Accuracy Signals Model Page

1 Vpp HP
Hollow shaft ± 1/10 of the pitch 42
TTL H / HA

1 Vpp SP
Solid shaft ± 1/10 of the pitch 42
TTL S

Graduated glass disk Reference signals (I0)

It is a reference signal etched on a graduation and when
Receiving photo-diodes Grid
scanned by the measuring system generates a pulse.
Plano-convex lens Reference marks are used to validate and restore the
machine zero position specially after turning on the machine
LED power.
Fagor Automation encoders have three types of reference
marks I0:
•  Incremental: The reference signal obtained is
synchronized with the feedback signals to ensure perfect
measuring repeatability.
•  Distance-coded: Both on linear and angular encoders
each distance coded reference signal is graduated in a non
linear way based on the predefined mathematical function.
Graduated glass disk Reference marks
The machine position value can be restored by moving
Angular encoder through two consecutive reference signals. The machine
movement needed to know the real position is always
Incremental very small and this is a very useful feature for large travel
machines.

etching

reference signals
Nr. of Nr. of
Series Angle α
lines references
Distance-coded H2-D90
α S2-D90
18 000 36 20º
S2-D170
H2-D200
H2-D200 36 000 72 10º

31
 I N C R E M E N T A L

Electrical output signals

Differential TTL
These are complementary signals in compliance with the
EIA standard RS-422. This characteristic together with a
line termination of 120 Ω, twisted pair, and an overall shield
provide greater immunity to electromagnetic noise caused by
their environment.

Characteristics
Signals A, /A, B, /B, I0, / I0
Signal level VH ≥ 2.5V IH= 20 mA
VL ≤ 0.5V IL= 20 mA
With 1 m cable
90º reference signal (I0) Synchronized with A and B
Switching time t+/t-< 30 ns
With 1 m cable
Supply voltage
and consumption 5 V ± 5%, 100 mA
T period 4, 2, 0.4, 0.2 µm
Max. cable length 50 meters
Load impedance Zo= 120 Ω between differential

Voltage drop across cable Vcc

(encoder)
The voltage required for a TTL encoder must be 5V ± 5%. 5V
A simple formula may be used to calculate the maximum
cable length depending on the section of the supply cables.
4.9
Lmax = (VCC-4.5)* 500 / (ZCABLE/Km* IMAX)

Example 4.8

Vcc = 5V, IMAX = 0.2 Amp (With 120 Ω load)

4.7
Z (1 mm ) 2 = 16.6 Ω/Km (Lmax= 75 m)
Z (0.5 mm ) 2 = 32 Ω/Km (Lmax= 39 m)
4.6
Z (0.25 mm2) = 66 Ω/Km (Lmax=19 m)
Z (0.14 mm2) = 132 Ω/Km (Lmax= 9 m) Cable length
4.5
Z (0.09 mm ) 2 = 232 Ω/Km (Lmax= 5 m)
meters

32
 Differential 1 Vpp
They are complementary sinusoidal signals whose differential
Vpp
V1 value is 1 Vpp centered on Vcc/2. This characteristic together
with a line termination of 120 Ω, twisted pair, and an overall
V2
shield provide greater immunity to electromagnetic noise
T=360... caused by their environment.

Vpp
Characteristics
Signals A, /A, B, /B, I0, / I0
I0 min VApp 1 V +20%, -40%
VBpp 1 V +20%, -40%
V I0
DC offset 2.5 V ± 0.5 V
L R Signal period 20 µm, 40 µm
I0 max Supply V 5 V ± 10%
Max. cable length 150 meters
A, B centered: |V1-V2| / 2 Vpp ≤ 0.065
A&B relationship: VApp / VBpp 0.8 ÷ 1.25
A&B phase shift: 90° ± 10°
I0 amplitude: VI0 0.2 ÷ 0.8 V
I0 width: L + R I0_min: 180°
I0_typ: 360°
I0_max: 540°
I0 synchronism: L, R 180º ± 90º

Vcc
Voltage drop across cable
(encoder)
The voltage required for a 1 Vpp encoder must be 5 V ± 10%.
5V A simple formula may be used to calculate the maximum
cable length depending on the section of the supply cables:
4.9
Lmax = (VCC-4.5)* 500 / (ZCABLE/Km* IMAX)
4.8
Example
4.7 Vcc = 5V, IMAX= 0.1Amp
Z (1 mm2) = 16.6 Ω/Km (Lmax= 150 m)
4.6
Z (0.5 mm ) 2 = 32 Ω/Km (Lmax= 78 m)
Cable length
4.5 Z (0.25 mm2) = 66 Ω/Km (Lmax= 37 m)

meters
Z (0.14 mm2) = 132 Ω/ Km (Lmax= 18 m)
Z (0.09 mm ) 2 = 232 Ω/ Km (Lmax= 10 m)

Vpp
1V
(encoder)
1 Vpp signal damping due to the cable
section
0.8
0,8
Besides attenuation due to signal frequency, there is another
signal attenuation caused by the section of the cable
0.6
0,6
connected to the encoder.
0.4
0,4

0.2
0,2
Cable length
0.0
0,0

meters

33
 I N C R E M E N T A L

H2-D200 series

Characteristics
H2-18000 H2-36000 H2-90000

Measurement By means of graduated glass disk

Accuracy ± 2 arc-seconds
Output signals TTL differential TTL differential TTL differential
Number of pulses/turn 18 000 pulses/ turn 36 000 pulses/ turn 90 000 pulses/ turn
Maximum frequency 1 Mhz 1 Mhz 1 Mhz
Maximum electrical speed < 1 000 min-1 < 1 000 min-1 < 666 min-1
Natural frequency > 1000 Hz
Supply 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load)
Maximum cable length 50 m 50 m 50 m
Maximum mechanical speed 1000 min-1
Inertia 10 000 g/cm2
Turning torque < 0.5 Nm
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6
Shock 1000 m/s2 (6 ms) IEC 60068-2-27
Reference signal I0 One reference signal per encoder turn or distance-coded  I0
Operating temperature 0ºC … 50ºC
Storage temperature -30ºC ... 80ºC
Weight 3.2 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

34
 Dimensions in mm

15 ø5,75x4 90º
,51
R1 0.25 B
2

INCREMENTAL
88
89
,59 ø1
32º

ø66

M4 x 0,7 X 7
0.2 C

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  H2OP-18000-D200-2

H2 O P 18000 D200 2
Type of shaft: Type of reference Type of signal: Number of pulses/turn of the first Outside diameter: Accuracy:
• H2: Hollow shaft mark I0: • B lank space: Differential TTL
feedback:
• D200: 200 mm • 2: ± 2” arc-seconds
• B lank space: Incremental, • P : 1 Vpp sinusoidal • 18000: on 1 Vpp and TTL models
one per revolution • 36000: on 1 Vpp and TTL models
•O  : Distance-coded marks • 90000: only on TTL models
• 180000: only on TTL models
• 360000: sonly on TTL models

H2-180000 H2-360000 H2P-18000 H2P-36000

By means of graduated glass disk

± 2 arc-seconds
TTL differential TTL differential 1 Vpp 1 Vpp
180 000 pulses/ turn 360 000 pulses/ turn 18 000 pulses/ turn 36 000 pulses/ turn
1 Mhz 1 Mhz 180 kHz 180 kHz
< 333 min-1 < 166 min-1 < 600 min-1 < 300 min-1
> 1000 Hz
5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 10%; < 150 mA (without load) 5 V ±  10%; < 150 mA (without load)
50 m 50 m 150 m 150 m
1000 min-1
10 000 g/cm2
< 0.5 Nm
100 m/s2 (55 … 2000 Hz) IEC 60068-2-6
1000 m/s2 (6 ms) IEC 60068-2-27
One reference signal per encoder turn or distance-coded  I0
0ºC … 50ºC
-30ºC ... 80ºC
3.2 kg
IP 64 DIN 40050 (standard)
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
With built-in connector

35
 I N C R E M E N T A L

H2-D90 series

Characteristics
H2-18000 H2-90000 H2-180000 H2P-18000

Measurement By means of graduated glass disk

±2.5 arc-seconds
Accuracy
±5 arc-seconds
Output signals TTL differential TTL differential TTL differential 1 Vpp
Number of pulses/turn 18 000 pulses/ turn 90 000 pulses/ turn 180 000 pulses/ turn 18 000 pulses/ turn
Maximum frequency 1 Mhz 1 Mhz 1 Mhz 180 kHz
Maximum electrical speed < 3000 min-1 < 666 min-1 < 333 min-1 < 600 min-1
Natural frequency > 1000 Hz
Supply 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 10%; < 150 mA (without load)
Maximum cable length 50 m 50 m 50 m 150 m
Maximum mechanical speed 3000 min-1
Inertia 650 g/cm2
Turning torque < 0.08 Nm
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6
Shock 1000 m/s2 (6 ms) IEC 60068-2-27
Reference signal I0 One reference signal per encoder turn or distance-coded  I0
Operating temperature 0ºC … 50ºC
Storage temperature -30ºC ... 80ºC
Weight 1 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

36
 Dimensions in mm

INCREMENTAL
15
,6

-0 0
,5
10 ,2
ø1 0
±0
0
ø1

M3 x 0,5 X 4
0
92,5 -1

0,3 A
ø 2,5
ø 35

R10
º
10
4,
5

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  H2OP-18000-D90-2

H2 O P 18000 D90 2
Type of shaft: Type of reference mark I0: Type of signal: Number of pulses/turn of the first Outside diameter: Accuracy:
feedback: • 2: ± 2.5” arc-seconds
• H2: Hollow shaft • B lank space: Incremental, one per • Blank space: Differential TTL • D90: 90 mm
revolution • P: 1 Vpp sinusoidal • 18000: on 1 Vpp and TTL models • 5: ± 5” arc-seconds
•O  : Distance-coded marks • 90000: only on TTL models
• 180000: only on TTL models

37
 I N C R E M E N T A L

S2-D170 series

Characteristics
S2-18000 S2-90000 S2-180000 S2P-18000

Measurement By means of graduated glass disk

Accuracy ±2 arc-seconds
Output signals TTL differential TTL differential TTL differential 1 Vpp
Number of pulses/turn 18 000 pulses/ turn 90 000 pulses/ turn 180 000 pulses/ turn 18 000 pulses/ turn
Maximum frequency 1 Mhz 1 Mhz 1 Mhz 180 kHz
Maximum electrical speed < 3000 min-1 < 666 min-1 < 333 min-1 < 600 min-1
Supply 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 10%; < 150 mA (without load)
Maximum cable length 50 m 50 m 50 m 150 m
Maximum mechanical speed 3000 min-1
Inertia 350 g/cm2
Turning torque < 0.01 Nm
Axial: 1 kg
Load of shaft
Radial: 1 kg
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6
Shock 1000 m/s2 (6 ms) IEC 60068-2-27
Reference signal I0 One reference signal per encoder turn or distance-coded  I0
Operating temperature 0ºC … 50ºC
Storage temperature -30ºC ... 80ºC
Weight 2.65 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

38
 Dimensions in mm

INCREMENTAL
45º

60
ø1
ø 5,5

90º

43,82
57

7,62

32,55

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  S2OP-18000-D170-2

S2 O P 18000 D170 2
Type of shaft: Type of reference mark I0: Type of signal: Number of pulses/turn of the first Outside diameter: Accuracy:
feedback: • 2: ±2” arc-seconds
• S2: Solid shaft • B lank space: Incremental, one per • Blank space: Differential TTL • D170: 170 mm
revolution • P: 1 Vpp sinusoidal • 18000: on 1 Vpp and TTL models
•O  : Distance-coded marks • 90000: only on TTL models
• 180000: only on TTL models

39
 I N C R E M E N T A L

S2-D90 series

Characteristics
S2-18000 S2-90000 S2-180000 S2P-18000

Measurement By means of graduated glass disk

±2.5 arc-seconds
Accuracy
±5 arc-seconds
Output signals TTL differential TTL differential TTL differential 1 Vpp
Number of pulses/turn 18 000 pulses/ turn 90 000 pulses/ turn 180 000 pulses/ turn 18 000 pulses/ turn
Maximum frequency 1 Mhz 1 Mhz 1 Mhz 180 kHz
Maximum electrical speed < 3000 min-1 < 666 min-1 < 333 min-1 < 600 min-1
Supply 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 5%; < 150 mA (without load) 5 V ± 10%; < 150 mA (without load)
Maximum cable length 50 m 50 m 50 m 150 m
Maximum mechanical speed 10 000 min-1
Inertia 2450 g/cm2
Turning torque < 0.01 Nm
Axial: 1 kg
Load of shaft
Radial: 1 kg
Vibration 100 m/s2 (55 … 2000 Hz) IEC 60068-2-6
Shock 1000 m/s2 (6 ms) IEC 60068-2-27
Reference signal I0 One reference signal per encoder turn or distance-coded  I0
Operating temperature 0ºC … 50ºC
Storage temperature -30ºC ... 80ºC
Weight 0.8 kg
IP 64 DIN 40050 (standard)
Protection
> IP 64 (DIN 40050) using pressurized air at 0.8 ± 0.2 bar in angular encoders
Connection With built-in connector

40
 Dimensions in mm

INCREMENTAL
32
,8
5
24 ,34
,1 0.08A
4
17

R10

19,8 -10

B
45º

A
0
92,5 -1

79,46 h7

10 h6

-1
0
89,73
0.01A

R2,25
0
-1
10
ø1 º
10
0.08B

3 ± 0,2
±0,2
00

13
ø1

+1
41,95 0

Note:  more detailed information on the installation in the manual

Order identification
Example of Angular Encoder:  S2OP-18000-D90-2

S2 O P 18000 D90 2
Type of shaft: Type of reference Type of signal: Number of pulses/turn of the first Outside diameter: Accuracy:
• S2: Solid shaft mark I0: • B lank space: Differential TTL
feedback:
• D90: 90 mm • 2: ±2.5” arc-seconds
• B lank space: Incremental, • P : 1 Vpp sinusoidal • 18000: on 1 Vpp and TTL models • 5: ±5” arc-seconds
one per revolution • 90000: only on TTL models
•O  : Distance-coded marks • 180000: only on TTL models

41
 I N C R E M E N T A L

H, S series

General characteristics Number of pulses/turn

S SP H HP HA S SP H HP HA

Up to 625 pulses/turn: By means of perforated metallic disk 100 – 100 – –

Measurement
From 625 pulses/turn on: By means of graduated glass disk
200 – 200 – –
Accuracy ± 1/10 of the pitch
250 – 250 – –
Maximum speed 12 000 rpm 6 000 rpm 400 – 400 – –
Vibration 100 m/seg2 (10 ÷ 2000 Hz) 500 – 500 – –
600 – 600 – –
Shock 300 m/seg2 (11 m/seg)
635 – 635 – –
Inertia 16 gr/cm2 30 gr/cm2
1 000 1 000 1 000 1 000 –
0.003 Nm (30 gr/cm) 0.02 Nm
Turning torque 1 024 1 024 1 024 1 024 1 024
max. at 20 °C (200 gr/cm)
Type of shaft Solid shaft Hollow shaft Hollow shaft 1 250 1 250 1 250 1 250 1 800
1 270 1 270 1 270 1 270 2 000
Axial: 10 N
Maximum load on the shaft – –
Radial: 20 N 1 500 1 500 1 500 1 500 2 048
Weight 0.3 kg 0.5 kg 2 000 2 000 2 000 2 000 2 500
Ambient characteristics: 2 500 2 500 2 500 2 500 3 000
Running temperature 0 °C…+70 °C 3 000 3 000 3 000 3 000 3 600
Storage temperature -30 °C…+80 °C – 3 600 – – 4 000
Relative humidity 98% non-condensing
– 4 320 – – 4 096
Protection IP 64 (DIN 40050). On S and SP models: Optional IP 66 IP 65 5 000 5 000 5 000 5 000 5 000
Light source IRED (InfraRed Emitting Diode) – – – – 10 000

Maximum frequency 200 KHz 300 KHz

Reference signal I0 One reference signal per encoder turn

5V 5V 5V 5V 5V
Supply voltage
± 5% (TTL) ± 10% (1 Vpp) ± 5% (TTL) ± 10% (1 Vpp) ± 5% (TTL)
Consumption 70 mA typical, 100 mA max. (without load)

Output signals TTL differential 1 Vpp TTL differential 1 Vpp TTL differential

Maximum cable length 50 m 150 m 50 m 150 m 50 m

42
S, SP models Dimensions in mm

INCREMENTAL
Roller bearings

H, HP models

Shaft
ØD g7
mm
3
4
6
6.35
7

L: Min. 9 mm, max. 16 mm 8

9.53
10

HA model

Note:  more detailed information on the installation in the manual

Order identification - models H, HP, S and SP

Example for a Rotary Encoder: SP-1024-R-C5-12-IP 66

S P 1024 R C5 12 IP 66
Model: Type of signal: Number of Cable exit Type of connector: Voltaje: Protection:
• S: Solid shaft • Blank space: square pulses/turn (not needed for C type • Blank space: 1 m cable • Blank space: • Blank space:
• H: Hollow shaft signal (TTL or HTL) (See table page 42) of connector, it can be without connector Standard 5 V supply Standard protection
• P: 1 Vpp sinusoidal only radial): •C : Flange socket • 12: Optional (IP 64)
signal • R: Radial CONNEI 12 12 V supply (only • Protection IP 66
• Blank space: Axial •C 5: 1 m cable with for HTL signal) (only S model)
CONNEI 12 connector

Order identification - HA model

Example for a Rotary Encoder: HA - 22132 - 250

HA 2 2 1 3 2 2500
Model: Type of clamp: Size of the hollow Output signals: Type of connection: Supply voltage: Number of
• H: Hollow • 1 : Rear clamp shaft (ØA): • 1: A, B, I0  plus their • 3: Radial cable (1 m) with • 2: RS-422 (5 V) pulses/turn
shaft • 2 : Front clamp • 2: 12 mm inverted CONNEI 12 connector (See table page 42)

43
 I N C R E M E N T A L

direct connection cables

Connection to FAGOR CNC

UP TO 12 METERS

EC…P-D
Lengths:  1, 3, 6, 9 and 12 meters

SUB D 15 HD connector (male Pin  )

Pin Signal Color

 1 A Green
 2 /A Yellow
 3 B Blue
 4 /B Red
 5 I0 Grey
 6 / I0 Pink
 9 +5 V Brown
11 0V White
15 Ground Shield
Housing Ground Shield

FROM 12 METERS ON
Cable EC-...A-C1 + alargadera XC-C2… D

EC…A-C1/ EC...A-C5 XC-C2-...D   extension cable

Lengths:  1 and 3 meters Lengths:  5, 10, 15, 20 and 25 meters
12 CIRCULAR connector (male Pin  ) 12 CIRCULAR connector (female Pin  )
SUB D 15 HD connector (male Pin  )

Pin Signal Color

 5 A Green Pin Pin Signal Color
 6 /A Yellow  5  1 A Brown
 8 B Blue  6  2 /A Green
 1 /B Red  8  3 B Grey
 3 I0 Grey  1  4 /B Pink
 4 / I0 Pink  3  5 I0 Red

 7 /Alarm Purple  4  6 /I0 Black

12 +5 V Brown  7  8 /Alarm Purple

 2 +5 V 12  9 5V Brown/
sensor Green

10 0V White  2  9 +5 V
Blue
sensor
11 0V
10 11 0V White/
sensor
Green
Housing Ground Shield
11 11 0V
White
sensor
Housing Housing Ground Shield

44
Connection to other CNC’s
UP TO 12 METERS
For direct connection to FANUC® (second feedback)
EC-...C-FN1
Lengths:  1, 3, 6, 9 and 12 meters
HONDA / HIROSE connector (female Pin  )

INCREMENTAL
Pin Signal Color
 1 A Green
 2 /A Yellow
 3 B Blue
 4 /B Red
 5 I0 Grey
 6 / I0 Pink
 9 +5 V Brown
18-20 +5 V sensor
12 0V White
14 0 V sensor
16 Ground Internal shield
Housing Ground External shield

For direct connection to SIEMENS® (Solution Line)

SME20 (1 Vpp only)
EC...A-C5
SMC20 (1 Vpp only) SMC30 (differential TTL only)
EC…P-S3 EC…P-S2
Lengths:  1, 3, 6, 9 and 12 meters Lengths:  1, 3, 6, 9 and 12 meterss
SUB D25 connector (female Pin  ) SUB D 15 connector  (male Pin  )

Pin Signal Color Pin Signal Color

 3 A Green 15 A Green
 4 /A Yellow 14 /A Yellow
 6 B Blue 13 B Blue
 7 /B Red 12 /B Red
17 I0 Grey 10 I0 Grey
18 / I0 Pink 11 / I0 Pink
 1 +5 V Brown  4 +5 V Brown
14 +5 V sensor  5 +5 V
 7 0V White  7 0V White
16 0 V sensor Housing Ground Shield
Housing Ground Shield

Without a connector at one end; for other applications.

EC…AS-O
Lengths:  1, 3, 6, 9 and 12 meters

Signal Color
A Green
/A Yellow
B Blue
/B Red
I0 Grey
/ I0 Pink
+5 V Brown
+5 V sensor Purple
0V White
0 V sensor Black
Ground Shield

45
 I N C R E M E N T A L

direct connection cables

Connection to other CNC’s

FROM 12 METERS ON
EC-...A-C1 cable + XC-C2... FN1 extension cable
EC-...A-C5 cable + XC-C4...C5 extension cable (1 Vpp only)
EC-...A-C5 cable + XC-C4...S3 extension cable (1 Vpp only)
EC-...A-C5 cable + XC-C4...S2 extension cable (differential TTL only)

XC-C2… FN1 extension cable XC-C4-… C5   extension cable

Lengths:  5, 10, 15, 20 and 25 meters Lengths:  5, 10, 15, 20 and 25 meters

12 CIRCULAR connector (female Pin  ) 12 CIRCULAR connector (female Pin  )

HONDA / HIROSE connector (female Pin  ) 12 CIRCULAR connector  (male Pin  )

Pin Pin Signal Color Pin Pin Signal Color

 5  1 A Brown  5  5 A Brown
 6  2 /A Green  6  6 /A Green
 8  3 B Grey  8  8 B Grey
 1  4 /B Pink  1  1 /B Pink
 3  5 I0 Red  3  3 I0 Red
 4  6 / I0 Black  4  4 /I0 Black
12  9 +5 V Brown/ 12 12 +5 V Brown/
Green Green
 2 18-20 +5 V  2  2 +5 V
Blue Blue
sensor sensor
10 12 GND White/ 10 10 0V White/
Green Green
11 14 GND 11 11 0V
White White
sensor sensor
Housing 16 Ground Shield  7  7 /Alarm Purple
Housing Housing Ground Shield

XC-C4-… S3   extension cable XC-C4-… S2   extension cable

Lengths:  5, 10, 15, 20 and 25 meters Lengths:  5, 10, 15, 20 and 25 meters

12 CIRCULAR connector (female Pin  ) 12 CIRCULAR connector (female Pin  )

SUB D25 connector (female Pin  ) SUB D15 connector  (male Pin  )

Pin Pin Signal Color Pin Pin Signal Color

 5  3 A Brown  5 15 A Brown
 6  4 /A Green  6 14 /A Green
 8  6 B Grey  8 13 B Grey
 1  7 /B Pink  1 12 /B Pink
 3 17 I0 Red  3 10 I0 Red
 4 18 / I0 Black  4 11 /I0 Black
12  1 +5 V Brown/ 12  4 +5 V Brown/
Green Green
 2 14 +5 V  5 +5 V
Blue
sensor
 2  6 +5 V
10  2 0V White/ Blue
sensor
Green
10  7 0V White/
11 16 0V Green
White
sensor
11  9 0V
White
Housing Housing Ground Shield sensor
Housing Housing Ground Shield

46
 A N G U L A R E N C O D E R S

accessories
Couplings for solid-shaft encoders

In order to ensure the accuracy of the solid-shaft angular

encoder, it is a must to use couplings that provide them
with long lasting stability. Fagor Automation recommends
using our AA and AP couplings that have been designed for
our encoders and provide a guarantee that other couplings
cannot.

AA Model

The AA model comes in three versions depending on the

diameter of the coupling as shown in the table below:

a b AP 14 model
Model
mm mm
AA 10/10 10 10
AA 10/14 10 14
AA 14/14 14 14

AP 10 model

Specific characteristics
AA 10/10
AA 10/14 AP 10 AP 14
AA 14/14
Maximum radial misalignment permitted
0.3 mm 0.3 mm 0.3 mm

Maximum angular misalignment permitted

0.5º 0.5º 0.2º

Maximum axial misalignment permitted

0.2 mm 0.2 mm 0.1 mm

Kinematic transfer error ± 2” ± 3” ± 2”

if  λ ≤ 0.1 mm and if  λ ≤ 0.1 mm and if  λ ≤ 0.1 mm and
α ≤ 0.09º α ≤ 0.09º α ≤ 0.09º
Maximum torque that may be transmitted 0.2 Nm 0.5 Nm 0.5 Nm
Torsion rigidity 1 500 Nm/rad. 1 400 Nm/rad. 6 000 Nm/rad.
Maximum rotating speed 10 000 rpm 1 000 rpm 1 000 rpm
Weight 93 gr 128 gr 222 gr
Inertia 20 x 10-6 kg/m2 100 x 10-6 kg/m2 200 x 10-6 kg/m2

48
 R O T A R Y E N C O D E R S

accessories
Coupling caps (solid shaft)

40 25,4 19,6

Ø6 Ø6
Ø 20 Ø6 Ø 25 Ø 19,2

AF model AC model AL model

Specific characteristics
AF AC AL

Maximum radial misalignment permitted

2 mm 1 mm 0.2 mm

Maximum angular misalignment permitted

8º 5º 4º

Maximum axial misalignment permitted

± 1.5 mm – ± 0.2 mm

Maximum torque that may be transmitted 2 Nm 1.7 Nm 0.9 Nm

Torsion rigidity 1.7 Nm/rad. 50 Nm/rad. 150 Nm/rad.
Maximum rotating speed 12 000 rpm

AH coupling caps AD-M washer

Rotary encoders: coupling caps (hollow shaft) Washer for mounting rotary encoder models H, HP, S, SP.

The hollow shaft encoders are accompanied by a standard

6 mm cap diameter (Ø 6).
Can also be supplied in the following diameters:
Ø 3, Ø 4, Ø 6, Ø 7, Ø 8 and Ø10 mm, 1/4” and 3/8”.

49
 L I N E A R A N D A N G U L A R E N C O D E R S

accessories
Protection
Enclosed linear encoders meet the protection requirements If the encoder is exposed to concentrated liquids and vapor,
IP 53 of the IEC 60 529 standard when mounted so water compressed air may be used to achieve a protection degree
splashes don’t hit the sealing lips directly. For further of IP 64 and prevent any contamination from getting inside.
protection, a separate protection guard must be mounted. For these cases, Fagor Automation recommends their
Air filter units AI-400 and AI-500.
•  AI-400 filter
The air coming from an compressed air supply must be
treated and filtered in the AI-400 unit which consists of:
•  Filtering and pressure regulating group.
•  Fast inlets and joints for 4 measuring systems.
•  A plastic tube 25 m long with an inside diameter of 4 mm
and outside diameter of 6 mm.

•  AI-500 filter
Under extreme conditions where the air must be dried, Fagor
Automation recommends using their air filter AI-500. This
includes a drying module that makes it possible to reach the
conditions required by Fagor Automation feedback systems.

AI-500 filter MODELS

For 2 axes: AI-525
For 4 axes: AI-550
For 6 axes: AI-590

Filters AI-400 / AI-500

Technical Characteristics Standard Special

Maximum input pressure 10.5 bar 14 bar
Maximum operating temperature 52 °C 80 °C
Output pressure of the unit 1 bar
Consumption per measuring system 10 l/min.
Safety Micro-filter saturation alarm

Air conditions (Meets the standard DIN ISO 8573-1) Safety switch
Fagor Automation linear feedback systems require the It consists of a pressostat capable of activating an alarm
following air conditions: switch when the pressure gets below 0.66 bar.
•  Class 1 - Maximum particle 0.12 μ Technical data:
•  Class 4 (7 bars) - Dew point 3 ºC The switching pressure may be adjusted between 0.3 and
1.5 bar.
•  Class 1 - Maximum oil concentration: 0.01 mg/m3.
•  Load: 4 A.
•  Voltage: 250 V approx.
•  Protection: IP65.

50
FeeDat®  is a registered trademark of Fagor Automation,
DRIVE-CLiQ®  is a registered trademark of SIEMENS®  Aktiengesellschaft,
SIEMENS®is a registered trademark of SIEMENS® Aktiengesellschaft,
FANUC®  is a registered trademark of FANUC® Ltd.,
MITSUBISHI®  is a registered trademark of MITSUBISHI®  Shoji Kaisha, Ltd.,
PANASONIC®  is a registered trademark of PANASONIC®  Corporation,
BiSS®  is a registered trademark of IC-Hauss GmbH, and
VITON® is a registered trademark of E. I. du Pont de Nemours and Company.

Fagor Automation shall not be held responsible for any printing or transcribing errors in the catalog and reserves the right to make any changes to the characteristics of its products
without prior notice. You must always compare the data with that appearing in the manual that comes with the product.
 Fagor Automation, S. Coop.
B° San Andrés, 19
E-20500 Arrasate - Mondragón
SPAIN
Tel.: +34 943 039 800
Fax: +34 943 791 712
E-mail: [email protected]

ER-073/1994

Fagor Automation holds the ISO 9001

Quality System Certificate and the
  Certificate for all products manufactured.

w w w. f a g o r a u t o m a t i o n . c o m

EPS - ANGULAR ENCODERS  EN0816

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