Absolute multiturn encoder TRK/S3 with EtherCAT FSoE interface Contactless, wear-free sensor system according to the Hall principle High vibration and shock resistance thanks to the robust mechanical design Safe position and safe speed signal Measuring range: 4096 revolutions (12-bit) Option: Draw wire version with integrated encoder: TRK125-D Design and function Recording of the angular position and revolutions by means of Hall sensors - absolute multiturn transmission for up to 4096 revolutions - data output plus parameterisation and diagnosis via EtherCAT. Robust housing manufactured from seawater-resistant aluminium or stainless steel - stainless steel shaft - ball bearing with radial shaft seal - sensor circuit consisting of ASIC with Hall elements - electrical connection via M12 connector or cable outlet. In the model series TRK absolute encoders, the EtherCAT interface is integrated according to IEC 61158-2 to 6 and encoder profile CiA DSP406. The use of the CANopen over EtherCAT message and the CANopen encoder profile enable parameter and diagnostic data handling as familiar from CANopen. These are contained in an object directory under the same indices as in CANopen. To achieve the SIL2 level, the TRK/S3 contains a redundant sensor system and additional internal monitoring mechanisms as well as safe communication via the FSoE (failsave over EtherCAT) protocol. The FSoE protocol is implemented according to the Safety over EtherCAT specification ETG.5100 version 1.2.0. The draw wire version with integrated encoder offers a very TWK-ELEKTRONIK GmbH Heinrichstrasse 85 compact solution for length measurement up to 10 m. See datasheet 125-D13794 for mechnical design. The detailed description of the integratioin and commissioning of a TWK absolute encoder with EtherCAT interface is described in detail in the user manual TRK 13349, which is available on request. EtherCAT® features  Failsafe over EtherCAT protocol (FSoE)  Complex slave with CANopen over EtherCAT (CoE)  "Full slave" - all addressing modes except segment  EtherCAT write/read services All  Field-bus Memory Management Unit (FMMU)  Sync-manager EtherCAT® is a registered brand and patented technology licensed by Beckhoff Automation GmbH, Germany.

Input data 1■ 4-byte position data ■ 2-byte speed data Electrical data ■ Sensor system: ■ Operating voltage: ■ Power consumption: ■ Resolution: ■ Measuring range: ■ Total number of steps: ■ Absolute accuracy of the position value: ■ Toleranz of the internal position monitoring ■ Internal updating time of the position value: ■ Output code: ■ Code sense: ■ Speed signal: ■ Internal updating time of the speed signal: ■ Bootup time EtherCAT data ■ Transfer technology ■ Transfer rate ■ Cable length Mechanical data ■ Operating speed: ■ Angular acceleration: ■ Moment of inertia (rotor): ■ Operating torque:...

Programmable parameters Parameter Date: 20.11.2018 Page 4 of 14 Document no. TRK 13348 EE

Absolute multiturn encoder model TRK/S3Electrical connectionBlock diagram Magnet 1 mltiturn Supply M12 connector connection assignment PIN Date: 20.11.2018 Page 5 of 14 Document no. TRK 13348 EE Industrial Ethernet cable colours according to ISO / IEC 8802-3.

Date: 20.11.2018 Page 6 of 14 Document no. TRK 13348 EE

Order number Electrical and / or mechanical variants 01 Standard 02 Protection class IP69K (only with cable output) Output: K 100Base-TX Electrical connection: M M12 connector Kx Cable, x = length in m Profil: S1 FSoE, not certified sample devices S3 FSoE, SIL2 certified Measuring range: Singleturn version: leave blank 4096 Revolutions 10 Length in meter for draw wire version. Possible values: 6 and 10 4096 Steps / 360° < or at draw wire: steps / drum circumference (248 mm) 8192 Housing material: A Aluminium S Stainless steel (1.4305) V Stainless steel (1.4404) Flange: K Clamped flange, shaft...

Absolute multiturn encoder model TRK/S3 Accessories, documentation, EDS file Accessories (to be ordered separately)  Documentation on CD CD-ROM with documentation, device description file, bitmap and example programme Straight mating connector  for EtherCAT in/out (die-cast zinc, nickel-plated) for EtherCAT in/out (stainless steel 1.4404) for supply voltage (die-cast zinc, nickel-plated) for supply voltage (stainless steel 1.4404)  Angled mating connector (can only be used with aligned device connectors (option)) Standard lengths: 1, 2, 3 and 5 m (xxx = length in metres) Industrial Ethernet...

Absolute multiturn encoder model TRK/S3 Installation drawings Standard design Design form 58 with clamped flange, order number: TRK58-KPA8192R4096S3MK01 Shaft ø 10 mm, with parallel key Shaft sealing ring n Shaft ø 10 mm with groove and parallel key 3 Rear view with M12 connectors Rear view with cable output diagnostic LED LED-Statusanzeigen (See table page 6) connector M12, D-coded connector M12, A-coded

Absolute multiturn encoder model TRK/S3 Installation drawings Further possible designs Design form 58 with clamped flange, order number: TRK58-KA8192R4096S3MK01 Shaft ø 10 mm with flat Shaft sealing ring Design form 58 with synchroniser flange, order number: TRK58-STA8192R4096S3MK01 Shaft ø 6 mm with flat Shaft sealing ring

Absolute multiturn encoder model TRK/S3 Installation drawings Design form 65 with synchroniser flange, order number: TRK65-SPA8192R4096S3MK01 Shaft ø 12 mm, with parallel key Shaft sealing ring n Shaft ø 12 mm, with groove and parallel key

Absolute multiturn encoder model TRK/S3 Installation drawings Design form 64 with switching cam encoder flange, order number: TRK64-NZA8192R4096S3MK01 Shaft ø 12 mm with flattened area, for mounting the toothed gear Shaft sealing ring M 6 x10 Sensor connector M12 4pin, socket, A-coding not adjusted Sensor connector M12 4pin, pins, D-coding not adjusted

Absolute multiturn encoder model TRK/S3 Installation drawings Design form 58 with synchroniser flange and clamping shaft, order number: TRK58-SNA8192R4096S3MK01 Shaft ø 12 mm (other diameters on request) Shaft seal Clamp shaft Di = 12 H7 Insertion depth: 16mm Sensor connector M12 4pole, pins, A-coded aligned Sensor connector M12 4pole, socket, D-coded aligned Beistellung: Klemmring Position coding pin/coding keyway