p r o d u c t i n f o r m at i o n

Encoder Solutions

Innovative Encoders for Measurable Results

 SICK ­— A Technology Leader for More than 60 Years

A Technology Leader in Factory and Logistics Automation

SICK is one of the world’s leading manufacturers of sensors, safety systems, machine vision and automatic
identification solutions. Our high quality products range from simple sensors and laser-based bar code
scanners… to machine vision, encoders, and safety laser scanners… to complex camera arrays.

Our superior technological expertise, broad product line, and vast application experience enable us to continually
find new and better ways to help our customers achieve their goals.

A Continuous Drive for Innovative Solutions

Since its humble beginning more than 60 years ago, SICK has made research and development a priority and
central strategic component — spending nine percent of revenue on R&D. More than 450 people at SICK are
dedicated to R&D, constantly creating new ways to solve customers' applications.

Application Diversity

SICK encoders are found in a wide range of applications:

• Wind turbines • Automated storage/ • Robotic systems • Steel making/foundry

retrieval systems equipment
• Solar panels • Food handling
• Elevators equipment • Textile machinery
• Servo motors
• Sheet and web offset • Valves/flow metering • Tire making equipment
• Packaging machines
presses • Overhead cranes • Test stands
• Machine tools
• Medical equipment • Process monitoring • Construction equipment
• Conveyors
equipment
• Transportation

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Features and Highlights of SICK Encoders

PROGRAMMABI L IT Y FA S T L E AD TIM E S CU S TOMI Z ATION T E CHNICA L S UPPORT

OPTION S

Get any resolution at the Many encoder families are Need a different shaft, Our team of application
click of a button. manufactured in the US, so connector, etc... ask for a engineers are ready to help
we can get an encoder out to specially made encoder. answer your questions.
you very quickly.

Contents
Innovative Encoder Technology
INCR E M E NTA L e n c o d e r s 4
Incremental Encoders
Use an incremental encoder when retention of absolute DFS Incremental Encoders 6
position upon power loss is not required. Examples include Selection Guide 7
velocity control and simple point-to-point applications.
a b s o l u t e e n c o d e r s 12
Absolute Encoders
Use absolute encoders when position data must be retained AFS/AFM Absolute Encoders 14
after loss of power. Examples include robotics, lead ball Selection Guide 15
screws, overhead cranes, and rack and pinion applications.
le n g t h
Linear Encoders m e a s u r i n g sys t e m s 18
Use linear encoders and wire-draw systems to measure
incremental or absolute position along any axis. Linear Selection Guide 22
encoders can be used in applications up to 1.7 km long.
S ta n d a l o n e m o t o r
Standalone Motor Feedback Encoders f ee d b a c k sys t e m s 25
Use standalone motor feedback encoders for absolute
feedback with high resolution on motors. H i p e r f a c e ® a d a p t e r s 26

a c c ess o r i es 27

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 3
 Incremental Encoders

Use an incremental encoder when retention of

absolute position upon power loss is not required.

Basic Operation of Optical Rotary Incremental Encoders Tachometer Encoders Differential Outputs
A single channel (e.g. A) incre- Correct position information
Incremental encoders have five main components: mental encoder, or tachom- can depend on eliminat-
• LED light source • Photodetector(s) eter, is used in systems that ing false signals caused by
• Rotating code disk • Amplifying/squaring operate in only one direction external electrical noise. An
• Stationary mask electronics and require simple velocity encoder with complemented
information. Velocity can be outputs, in combination with
As the code disk rotates in front of the stationary mask, it determined from the time a control that uses differen-
shutters light from the LED. The light that passes through the interval between pulses, or by tial operational-amplifiers,
mask is received by the photodetector, which produces pulses the number of pulses within a can minimize noise problems.
in the form of a quasi-sine wave. The encoder electronics con- given time period. When channel A goes high, its
vert the sine wave into a square signal, ready for transmission complement channel A goes
to a counter. Application examples include velocity control and Quadrature Encoders low. Electrical noise will affect
simple point-to-point applications. Quadrature encoders have both channels in the same
dual channels, A and B, way, and can thus be ignored
Conventional Code Disks which are electrically phased by the differential op-amps.
Conventional incremental code disks contain a fixed number 90° apart. Thus, direction of
of equally spaced opaque lines that produce a corresponding rotation can be determined Marker Pulse
number of pulses per revolution (PPR). Each line count requires by monitoring the phase The zero, or marker pulse is
a unique code disk. The position and spacing of the lines on relationship between the two a rectangular pulse that is
the disk requires a high degree of precision. Physical limitations channels. In addition, with a transmitted once per revolu-
determine the maximum number of lines that can be created dual-channel encoder, a four tion. It is used as a reference
on a code disk of a given size. times multiplication of resolu- to a defined mechanical
tion can be achieved by exter- position, mainly during
However, using new technology, our new DFS family will allow nally counting the rising and commissioning or start-up
up to 65,536 lines and certain versions of the encoder will al- falling edges of each channel after power loss. With our
low the customer to program it and reprogram it to various line (A and B). For example, an CoreTech series, this can be
counts, as needed. encoder that produces 2,500 set by a pushbutton or by ap-
pulses per revolution can plying a signal wire.
Electronics board generate 10,000 counts after
(Signal conditioning) quadrature.
A

LED light source

A Channel

B Channel B

Rotating
encoder disk
Quadrature
Signal
Stationary mask
Bandwidth Considerations
Encoder resolution and shaft
Photodetector
speed determine the fre-
The basic structure of an
quency of the output signals.
incremental encoder with
Careful consideration of the
conventional code disk.
application requirements and
the encoder capabilities is
required.

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Electronic Interface Options

3487 7272 7406 7273

L IN E DRI V E R L IN E DRI V E R OPEN COLLECTOR OPEN COLLECTOR
V S= 5 V V S= 8 - 2 4 V V S= 8 - 2 4 V V S= 8 - 2 4 V

VS VS
VS VS

a,b,m a,b,m

a,b,m a,b,m

a,b,m a,b,m

gnd gnd gnd gnd

The 3487 RS422 The 7272 line driver The 7406 line driver The 7273 is similar
driver has 5V supply can sink or source 40 can sink 40 mA. It to the 7406 and
and supplies a TTL mA. It has both PNP has an NPN transis- can sink 40 mA of
output. and NPN transistors tor on board the IC. current.
on the IC.

Mechanical Interface Options

(3)

(2)

(1)

(2)

(1)

Mounting of encoders with servo mount Mounting of encoders with face mount flange

(1)

(1)

(2)

(2)

(4)

(3)

Mounting of encoders with square flange Mounting of encoders with blind or through hollow shaft

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 5
 advantages of using dfS Encoders
Versus conventional Encoders

conventional Encoders the dfS Solution

Limited pulses Many industrial applications require a higher line The DFS has a completely new ASIC design,
per revolution count than has been available with traditional which provides 1 to 65,536 pulses per
incremental encoders. In the past, there were revolution, and up to 262,144 counts after
several ways to increase resolution: quadrature, quadrature; significantly increasing resolution
interpolation, or using a larger encoder. available in incremental encoders.
Shock, Vibration The rotating discs used in encoders are typically The DFS encoder features a nickel code disc
& temperature glass or plastic. Glass discs can shatter when designed both for increased robustness and a
Limitations exposed to excessive vibration or shock. Plastic higher temperature tolerance (-20…+100°C).
discs, while they won’t shatter, cannot achieve the
same level of accuracy as glass discs. Additionally,
they are limited to a lower working temperature,
rendering them unsuitable for the temperature
tolerances often required in harsh environments.
30 mm
30 mm
bearing Lifetime The life of an encoder bearing can be shortened The loads on the bearings have been greatly
and run out by several factors: high shaft loads, high speeds of reduced on the DFS due to the 30 mm
rotation, and shaft misalignment. Once a bearing distance between the bearings. This greater
fails, the encoder needs to be replaced. bearing distance also decreases vibration
of the encoder, which helps extend the life
of the bearings.

programmability Typical encoders are shipped by the manufacturer The programmable versions of the DFS allow the
with the customers’ desired line count, pulse and user to program the encoder to the line count
electrical interface preset and unchangeable. This desired and reprogram it, as needed.
means that if customers need several encoders
with various line counts and/or electrical Additionally, zero set and electrical interface (to
interfaces, they will need to have several encoders either TTL or HTL) can be programmed, which is
for backup in inventory. very unique to SICK DFS encoders.

A simple programming tool connected to a PC

with a USB cable is used for all programming
functions.

axial and radial Currently, when users require cable outlets for The DFS encoders are available with a pluggable
cable outlets their encoders, they have the choice of a radial or outlet that can be used in either a radial or axial
axial outlet. It is possible they will need encoders direction which requires less installation depth.
with both in the same environment requiring Since it is detachable, if the cable is damaged,
additional inventory. Also, if the cable is somehow no repair is necessary by the manufacturer.
damaged, the encoder has to be returned to The customer can simply order a new cable
the manufacturer who will repair the encoder by and plug it into the encoder. Various cable
replacing the cable. lengths and connectors at the end of the cable
are also available.

other • RoHS compliant • High shaft loading

• High frequency response • High operating speed
features • IP 65 protection class • Programmable versions come
of the dfS • Excellent concentricity
with diagnostic function that
reads shaft position

6 E n c o d E r S p r o d u c t i n f o r m at i o n | © S i c k , i n c .
7
incremental Encoders
Selection guide

dfS60 incremental Encoders

The DFS60 line offers a complete range of high

resolution, freely programmable incremental
encoders that can be programmed to
accommodate any value from 1 to 65,536 pulses
per revolution (PPR). The DFS60 also offers output
voltage and zero set position programming through
the software interface. The DFS60 has an operating
temperature range up to 100º C.

dfS60
heavy duty incremental Encoders

incremental Encoders

dfS 60 dfS 60 dfS 60

blind hollow Shaft through hollow heavy duty
Shaft Solid Shaft
resolution 1...65,536 ppr 1...65,536 ppr 1...65,536 ppr
diameter Size 60 mm 60 mm 60 mm
interface TTL/RS 422, HTL TTL/RS 422, HTL TTL/RS 422, HTL
Supply Voltage 5 V or 10...32 V 5 V or 10...32 V 5 V or 10...32 V
Shaft Size/bore 0.375 in, 0.5 in, 0.375 in, 0.5 in, 6 mm or 10 mm
or 10, 12, 14 and or 10, 12, 14 and
15 mm 15 mm
mounting Integral flex mount Integral flex mount Servo mount or
face mount
protection class IP 65 IP 65 IP 65
aVa i L a b L E Electrical M23 or M12 M23 or M12 M23 or M12
accES SoriES connections connectors; connectors; connectors;
shielded cable shielded cable shielded cable
• Adapters
optional Pulses per Pulses per Pulses per
• Cable assemblies
customer revolution, zero revolution, zero revolution, zero
• Collets
programmability pulse set & pulse set & pulse set &
• Couplings
electrical interface electrical interface electrical interface
• Programming tool
rohS compliance Yes Yes Yes

© S i c k , i n c . | E n c o d E r S p r o d u c t i n f o r m at i o n 7
 Incremental Encoders
Selection Guide

DRS Incremental Encoders

The DRS line of encoders combines user-defined

resolutions and simple set up, enabling the user to
create custom resolutions at the click of a mouse
button. This encoder line contains CoreTech®,
an unprecedented blend of custom-designed
OPTO-ASIC technology and a modular mechanical
concept. Customers can choose from a large
variety of encoders with different mechanical
interfaces, housing styles, resolutions and
electronic features.

Incremental Encoders Featuring CoreTech — Solid Shaft Hub/Hollow Shaft

DRS 20 DRS 25 DRS 60/DRS 61 DRS 60/DRS 61

CoreTech®
DRS 21* DRS 26* DRS 61* DRS 61*
Resolution 1...8,192 ppr 1...8,192 ppr 1...8,192 ppr 1...8,192 ppr
Diameter Size 2.0 in 2.5 in 60 mm 60 mm
Interface Differential line Differential line Differential line TTL/RS 422, HTL
drivers drivers driver or push-pull push-pull
Supply Voltage 5 V or 8...24 V 5 V or 8...24 V 5 V or 10...32 V 5 V or
10...32 V
Shaft Size/Bore 0.25 in, 0.375 in 0.25 in, 0.375 in 6 mm or 10 mm 15 mm hub shaft
or 10 mm or 10 mm or 14 mm hollow
shaft with collets for
6, 8, 10 or 12 mm
and 0.25, 0.375 or
0.5 in
Mounting Square flange or Square flange or Servo mount or Integral flex mount
servo mount with servo mount with face mount
face holes face holes
Protection Class IP 66 IP 66 IP 66 IP 66
Electrical 6, 7 or 10-pin 6, 7 or 10-pin MS23 12-pin MS23 12-pin
Connections MS connector; MS connector; connector; connector;
shielded cable shielded cable shielded cable shielded cable
Customer N/A N/A Pulses per Pulses per
Programmability revolution and zero revolution and zero
pulse (available only pulse (available only
on the DRS 61) on the DRS 61)
RoHS Compliance Yes Yes Yes No
*Customer programmable versions

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DGS Incremental Encoders

The DGS family of heavy duty incremental

encoders are built using traditional code disk
technology. They are built to last under tough
environmental conditions.

Incremental Encoders — Solid Shaft Hub/Hollow Shaft

DGS 20 DGS 25 DGS 21/DGS 22 DGS 35/DGS 34

Resolution 1...3,000 ppr 1...5,000 ppr 1...2,500 ppr 120...16,384 ppr

Diameter Size 2.0 in 2.5 in 2.0 in 3.5 in
Interface Differential line Differential line Differential line Differential line
drivers or open drivers or open driver or open driver or open
collector collector collector collector
Supply Voltage 5 V or 8...24 V 5 V or 8...24 V 5 V or 8...24 V 5 V, 5...15 V or
8...24 V
Shaft Size/Bore 0.25 in, 0.375 in 0.25 in, 0.375 in 0.375 or 0.5 in 1 in or 30 mm with
or 10 mm or 10 mm collets for 0.5,
0.625, 0.75 and
0.875 in
Mounting Square flange or Square flange or Integral flex mount Tether arm or anti-
servo mount with servo mount with rotational pin
face holes face holes
Protection Class IP 66 IP 66 IP 50 IP 66
Electrical 6, 7 or 10-pin 6, 7 or 10-pin Shielded cable 10-pin MS
Connections MS connector; MS connector; connector; shielded
shielded cable shielded cable cable
RoHS Compliance Yes Yes Yes Yes

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 9
 Incremental Encoders
Selection Guide

Light Duty Incremental Encoders

Light Duty Encoders

DDS36X-B/S DDS50X-S LD 20 DKS 40

Resolution 100…3,600 ppr 100…2,500 ppr 10...2,500 ppr 1...1,024 ppr

Diameter Size 36 mm 50 mm, 2.0 in 2.0 in 40 mm
Interface TTL/RS422, HTL TTL/RS422, HTL Differential line TTL/RS 422, HTL
push-pull or open push-pull or open driver or open push-pull or open
collector NPN collector NPN collector collector
Supply Voltage 5 V or 7...24 V 5 V or 7...24 V 5 V or 8...24 V 5 V or 10...30 V
Shaft Size/Bore 8 mm hub shaft, 8 mm solid shaft 0.25 in 8 mm
6 mm solid shaft
Mounting Integral flex Face mount Face mount Face mount
mount for hub, flange, servo
face mount for flange
shafted version
Protection Class IP 65 IP 65 IP 50 IP 64
Electrical Shielded cable Shielded cable Shielded cable Shielded cable
Connections
RoHS Compliance No No Yes No

11
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Special Purpose Incremental Encoders

Special Purpose Encoders Wheeled Encoders

HD 32 HD 52 DKV 60 DGV 31 DFV 60

Measuring Wheel Measuring Wheel Measuring Wheel

Resolution 10...2,500 ppr 10...2,500 ppr 1...2,048 ppr 1…3,000 ppr 1…65,536 ppr•
Diameter Size 3.25 in cube 3.25 in x 3.25 in x 60 mm 12 in wheel 300 mm wheel
5.7 in long circumference circumference
Interface Differential line Differential line TTL/RS 422, HTL TTL/RS422, HTL TTL/RS422, HTL
driver or open driver or open push-pull push-pull or open push-pull
collector collector collector
Supply Voltage 5 V or 8...24 V 5 V or 8...24 V 5 V or 10...30 V 5 V or 8…24 V 5…30 V
Shaft Size/Bore 0.375 in single or 0.375 in or N/A N/A N/A
double ended 0.625 in
Mounting Foot mount or Face mount Wheeled encoder Wheeled encoder Wheeled encoder
face mount with spring mount
Protection Class IP 65 IP 66 IP 65 IP 60 IP 65
Electrical 6 or 10-pin MS 7 or 14-pin MS Shielded cable 3 or 6-pin MS M12 8 pin
Connections connector connector connector M12
4 pin, shielded
cable
RoHS Compliance Yes Yes No No Yes
•Customer Programmable versions

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 11
 Absolute Encoders
Singleturn and Multiturn

Use absolute encoders when position data

must be retained after loss of power.

Basic Operation of Optical Rotary Absolute Encoders Magnetic Absolute Encoders ring is calibrated for a 13-bit
As with incremental encoders, absolute optical rotary encoders Many applications require singleturn absolute position
use a rotating disk to interrupt the light path to a photodetector, resistance to extremely high feedback. Additional software
which produces an output signal. However, absolute encoders shock and vibration, wide is used to compensate for
read uniquely coded tracks to generate position information. No temperature variations, temperature variation and
two adjacent positions are alike. Therefore, absolute encoders or high humidity with resulting differential thermal
do not lose position data when power is lost. True position is condensation. Our magnetic expansion to insure data
available as soon as power is restored. Application examples absolute encoders meet integrity.
include robotics, lead/ball screws, overhead cranes, and rack these unique challenges.
and pinion applications. Electronic Zero Position Teach
Magnetic field strength With all our absolute
Conventional Optical Absolute Encoder Disks of a proprietary 32-pole encoders, the zero position is
A conventional absolute encoder disk features a series of magnetic ring is measured electronically assigned by the
concentric tracks, each consisting of a pattern of transparent using two strategically user to the current mechanical
and opaque segments. These independent tracks provide a spaced magneto-resistors position by activation of a
unique combination of absolute values for each resolvable that pick up variation of the pushbutton or set line. No
position. One track is needed for each “bit” of position infor- magnetic field intensity along mechanical detachment or
mation that is output as either a serial or parallel data “word.” the circumference of the rotation of the encoder is
ring. The resulting 32 sine/ necessary.
The preferred code format is Gray Code, in which only one bit of cosine signals per turn (5-bit)
information changes between adjacent positions on the disk. are then enhanced by 8-bit
This limits the position error from the track sensors to plus or interpolation. A single north-
minus one count. Other available codes, such as Natural Binary south pole magnet, read by
or Binary Coded Decimal (BCD), may have several bits change a Hall effect sensor, is used
between adjacent positions. to assign absolute values to
individual sine/cosine cycles.
Thus, the 32-pole magnetic
Absolute rotary Photodetector LED Light source
encoder with
Stationary mask
conventional code
disk.
Position

Tracks

Typical disk pattern showing radial

scanning method used to read position

Rotating
Encoder Disk

13
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Serial Transmission Singleturn and Multiturn In our multiturn encoders, a Serial to Parallel Conversion
We developed SSI Absolute Encoders high precision, miniaturized Module
(Synchronous Serial Interface) Use singleturn encoders gear train, with a magnet The AD-SSI-PA converter
to offer a cost-effective when the full range of on each gear stage, is module can be used with
solution for long cable runs. motion in the application used to mechanically store our SSI absolute encoders to
The encoder produces serial occurs within one full position information over as convert the transmitted data
data which is transmitted revolution (360°) of the many as 8,192 turns. The from serial to parallel format.
using only six wires, regardless encoder shaft. Multiturn position of each gear stage These devices can be used if
of encoder resolution. This is encoders are recommended is determined with a pair of the control does not directly
ideal for transmission at high for applications involving Hall sensors. This eliminates accept the SSI format.
speed over long distances multiple revolutions of the the need for costly and often
— up to 3,000 feet. Superior encoder shaft. unreliable counters and Fieldbus Systems
noise immunity is achieved battery back up systems. Our absolute encoders can
using differential clock and Also, position changes that also be supplied with popular
data signals. occur while the power is off fieldbus interfaces including
are automatically tracked. DeviceNet, Profibus, and
CANopen.

Advantages of Absolute Encoders

NON - V O L ATI L E PROT E CTION NOI S E

M E MOR Y IMMUNIT Y

Absolute encoders are non- In some applications, a loss Absolute encoders determine
volatile position verification of position could result in position by continually
devices. True position is damage to the machinery reading a coded signal. Stray
not lost if the power fails. or injury to the operator. An pulses will not accumulate
Continuous reading of absolute encoder provides and accurate position is
position is not required. position verification the available again on the next
moment power is applied reading.
without requiring movement
to a reference position.

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 13
 advantages of using afS and afm Encoders
Versus conventional Encoders

conventional Encoders the afS/afm Solution

Limited pulses Many industrial applications require a higher line The AFS and AFM encoders have a completely
per revolution count than has been available with traditional new ASIC design, which provides 1 to 262,144
absolute encoders. In the past, there were several counts per revolution, 4096 revolutions;
ways to increase resolution: interpolation or using significantly increasing resolution available in
a larger encoder. absolute encoders.
Shock, Vibration The rotating discs used in encoders are typically The AFS and AFM encoders feature a nickel code
& temperature glass or plastic. Glass discs can shatter when disc designed both for increased robustness and
Limitations exposed to excessive vibration or shock. Plastic a higher temperature tolerance (-20…+100°C).
discs, while they won’t shatter, cannot achieve the
same level of accuracy as glass discs. Additionally,
they are limited to a lower working temperature,
rendering them unsuitable for the temperature
tolerances often required in harsh environments.
30 mm
30 mm
bearing Lifetime The life of an encoder bearing can be shortened The loads on the bearings have been greatly
and run out by several factors: high shaft loads, high speeds of reduced on the AFS and AFM due to the 30 mm
rotation, and shaft misalignment. Once a bearing distance between the bearings. This greater
fails, the encoder needs to be replaced. bearing distance also decreases vibration
of the encoder, which helps extend the life
of the bearings.

programmability Typical encoders are shipped by the manufacturer The programmable versions of the AFS and AFM
with the customers’ desired line count, pulse and allow the user to program the encoder to the line
electrical interface preset and unchangeable. This count desired and reprogram it, as needed.
means that if customers need several encoders
with various line counts and/or electrical Additionally, zero position or offset can be
interfaces, they will need to have several encoders programmed through the s/w interface, which is
for backup in inventory. very unique to SICK encoders.

A simple programming tool connected to a PC

with a USB cable is used for all programming
functions.

axial and radial Currently, when users require cable outlets for The AFS and AFM encoders are available with
cable outlets their encoders, they have the choice of a radial or a pluggable outlet that can be used in either
axial outlet. It is possible they will need encoders a radial or axial direction which requires less
with both in the same environment requiring installation depth. Since it is detachable, if the
additional inventory. Also, if the cable is somehow cable is damaged, no repair is necessary by the
damaged, the encoder has to be returned to manufacturer. The customer can simply order a
the manufacturer who will repair the encoder by new cable and plug it into the encoder. Various
replacing the cable. cable lengths and connectors at the end of the
cable are also available.

other • RoHS compliant • High shaft loading

• High frequency response • High operating speed
features of • IP 65 protection class • Programmable versions come
the afS/afm • Excellent concentricity
with diagnostic function that
reads shaft position

15
4 E n c o d E r S p r o d u c t i n f o r m at i o n | ©Sick, inc.
absoluteEncoders
absolute Encoders
Selectionguide
Selection guide

absolute Singleturn Encoders

coretech Singleturn Encoders

afS 60• arS 20 arS 25 arS 60

(coretech) (coretech) (coretech)
resolution 2…262,144 cpr 2...32,768 cpr 2...32,768 cpr 2...32,768 cpr
diameter Size 60 mm 2.0 in 2.5 in 60 mm
interface SSI SSI, Push-pull, SSI, Push-pull, SSI or parallel
Open collector, Open collector,
TTL TTL
Supply Voltage 5…32 V 10...30 V, 8...24 V, 10...30 V, 8...24 V, 10...32 V
5V 5V
output code Gray Gray, Gray Excess, Gray, Gray Excess, Gray, Gray Excess,
formats Natural Binary, Natural Binary, Natural Binary,
Binary Coded Binary Coded Binary Coded
Decimal Decimal Decimal
bore/Shaft Size 6 mm with servo 0.25 in, 0.375 in, 0.25 in, 0.375 in, 6 mm with servo
and mounting mount or 10 mm 10 mm; Square 10 mm; Square mount or 10 mm
with face mount; flange, servo flange, servo with face mount;
8, 10, 12, 14, mount mount 15 mm hub shaft
15 mm and 3/8, with face holes with face holes or 14 mm hollow
1/2 and 5/8 in shaft with integral
hub and through flex mount and
hollow collets for 6, 8,
aVa i L a b L E 10 or 12 mm and
accES SoriES 0.25, 0.375 or
0.5 in
• Adapters
protection class IP 67/65 IP 66 IP 66 IP 66
• Cable assemblies
• Collets Electrical MS23 12-pin 17, 19 or 23-pin 17, 19 or 23-pin MS23 12-pin
• Couplings connections connector; MS connector; MS connector; connector;
• Bus adapters shielded cable; MS23 12-pin MS23 12-pin shielded cable
• Programming tool M12 8-pin connector; connector;
shielded cable shielded cable
rohS compliance Yes Yes Yes No
•Customer Programmable versions

© S i c k , i n c . | E n c o d E r S p r o d u c t i n f o r m at i o n 1 5
 Absolute Encoders
Selection Guide

Absolute Multiturn Encoders

Absolute Multiturn Encoders — ATM 60 and AFM 60

AFM 60 ATM 60-A ATM 60-D ATM 60-C ATM 60-P

(SSI) (SSI) (DeviceNet) (CANopen) (Profibus)
Resolution 18 bits per turn 13 bits per turn x 13 bits per turn x 13 bits per turn x 13 bits per turn x
x 4,096 turns 8,192 turns 8,192 turns 8,192 turns 8,192 turns
programmable (26 bit max), (26 bit max), (26 bit max), (26 bit max),
programmable programmable programmable programmable
Diameter Size 60 mm 60 mm 60 mm 60 mm 60 mm
Interface SSI SSI DeviceNet Communication RS 485 bus
specification Profile DS 301 coupling to Profibus
release 2.0 V4.0; Device Profile DP specifications
DSP 406 V2.0
Supply Voltage 5…32 V 10...32 V 10...32 V 10...32 V 10...32 V
Output Code Gray Gray
Formats
Bore/Shaft Size 6 mm with servo 6 mm with servo 6 mm with servo 6 mm with servo 6 mm with servo
and Mounting mount or 10 mm mount or 10 mm mount or 10 mm mount or 10 mm mount or 10 mm
with face mount; with face mount; with face mount; with face mount; with face mount;
8, 10, 12, 14, 15 15 mm hub shaft 15 mm hub shaft 15 mm hub shaft 15 mm hub shaft
mm and 3/8, 1/2 with integral flex with integral flex with integral flex with integral flex
and 5/8 in hub and mount and collets mount and collets mount and collets mount and collets
through hollow for 6, 8, 10 or for 6, 8, 10 or for 6, 8, 10 or for 6, 8, 10 or
12 mm and 0.25, 12 mm and 0.25, 12 mm and 0.25, 12 mm and 0.25,
0.375 or 0.5 in 0.375 or 0.5 in 0.375 or 0.5 in 0.375 or 0.5 in
Protection Class IP 67/65 IP 67 IP 67 IP 67 IP 67
Electrical M12 8-pin, M12 MS23 12-pin Separate bus Separate bus Separate bus
Connections 12-pin connector, connector; shielded connector with connector with one, connector
shielded cable cable single or dual 5-pin two or three PG
micro connectors, cable glands
or single or dual PG
gland

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 Absolute Multiturn Encoders — ATM 90

ATM 90-A ATM 90-P

(SSI) (Profibus)
Resolution 13 bits per turn 13 bits per turn x
x 8,192 turns 8,192 turns
(26 bit max), (26 bit max),
programmable programmable
Diameter Size 93 mm 93 mm
Interface SSI, RS 422 RS 485 bus
coupling to Profibus
DP specifications
Supply Voltage 10...32 V 10...32 V
Output Code Gray
Formats
Bore/Shaft Size 12 mm, 16 mm or 12 mm, 16 mm or
and Mounting 0.5 in hollow shaft 0.5 in hollow shaft
with anti-rotational with anti-rotational
pin mount pin mount

Protection Class IP 65 IP 65
Electrical MS23 12-pin Three M14 7-pin
Connections connector connectors or three
PG cable glands

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 17
 Length Measuring Systems

Linear Encoders
Use linear encoders to measure incremental or absolute position along any axis.
Linear encoders can be used in applications up to 1.7 kilometers long.

TTK70 L 230 Magnetic (Lincoder®)

The TTK70 consists of a coded magnetic tape and a small The L 230 is similar to the TTK70. The magnetic tape provides
sensor head. The TTK70 has a compact head for measuring the scale for measuring systems up to 40 meters long. The
lengths up to 4 meters. The package has an integrated SSI absolute information is magnetized onto the tape in a 12-bit
interface with SinCos output. Using a separate bus adapter, sequential code. This position information is enhanced by
different fieldbus interfaces like DeviceNet, Profibus and interpolation of sine/cosine signals provided by an additional
CanOpen are available. There are two versions of the TTK incremental track that is magnetized on the tape.
available — the sensor head with an SSI output or with a
Hiperface output. This system has a very high accuracy of As the read head moves over the measuring tape, its position
±10 µm with revolutions of 1 µm with SSI and 3.906 µm for is output with a resolution as low as 1 µm over a 16 meter
fieldbus interfaces. range, or 10 µm over a 40 meter range. Position data is output
via real-time compensated SSI (Synchronous Serial Interface),
HIPERFACE, or RS 485. The Lincoder is also programmable via
RS 485, and a number of parameters such as offset, resolution
and start points can be configured by the user.

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KH 53 (Pomux®) and Advanced KH 53 The sensor head moves over the Omega Profile sections
Long Distance Linear Encoders without contact, and produces absolute positional data.
This style of encoder is unique to SICK and allows absolute The KH 53 allows a generous vertical tolerance of ±10 mm
measurement of up to 1.7 kilometers! The KH 53 consists around a 25 mm nominal value, and a horizontal tolerance
of two basic components: Omega Profile sections and the of ±10 mm around the centerline. The output is available
sensor head. Each Omega Profile section contains a number in SSI, and Profibus. Other networks can be realized using
of powerful permanent magnets. The separation between commercially available I/O modules.
each magnet is unique and never repeated. These unique
separations build up a code over the complete measurement In addition, this modular system offers several benefits to
path. In a working system, several Omega Profile sections the user. If the measurement length of the system needs
are placed end to end along the complete measurement to increase in the future, the user simply needs to mount
path. The total length of the system determines the number the extra profiles required. If the Omega Profile becomes
of profiles required. Each profile section is labeled with damaged, only the damaged sections need to be replaced.
an identification number indicating the order in which the
sections should be mounted. The Advanced KH 53 has 54 m or 548 m measuring
lengths, a positional/mounting tolerance to ±20 mm, and an
operating temperature of -30 to 70°C. The Advanced KH 53
has the added advantage of requiring less installation time
than the standard KH 53.

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 19
 Length Measuring Systems

Wire-Draw Encoders

BCG Wire-Draw Encoders BKS/PKS/XKS Wire-Draw Encoders

SICK’s new EcoLine of wire-draw encoders is a cost-effective In these compact wire-draw encoders, the encoder is integrated
solution for precise length/distance measurement applications. into the wire-draw mechanism to minimize the size of the unit.
It is easy to set up and install and offers several advanced
features that save time and reduce costs. The analog output is The number of drum rotations, which is proportional to
scalable and features and easy-to-use pushbutton that allows the length being measured, is counted by an encoder and
the user to configure the unit for different lengths. converted to a standard encoder output signal. This provides
high-resolution position or distance information for linear
This series also offers two versions of standalone wire- measurement paths, even under difficult mounting conditions.
draw mechanisms that, when combined with SICK’s existing
encoder portfolio, offer an amazing solution far surpassing Precise linear guidance, as required for other length
any competitor’s offering. For example, combining a DFS60 measurement systems, is not necessary.
programmable encoder with the wire-draw mechanism, the zero
position, resolution and electrical interface can be programmed The choice between absolute and incremental wire-draw
in seconds. encoders enables made-to-measure solutions for many
applications: SSI interface for absolute wire-draw encoders,
These encoders can be used in a variety of applications, TTL interface for incremental wire-draw encoders. Both
including automated guided vehicles, storage and conveying interfaces are common in automation technology and meet its
systems, presses, handling systems, medical applications exacting requirements.
and many others. Plus, its compact design makes it ideal for
applications with limited installation space. The measuring lengths up to 5 m cover most of the possible
applications, for example in:

Presses, punching and injection machines, storage technology,

wood and sheet metal processing machines, construction
machinery, medical technology and many other industries.

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BTF/PRF Wire-Draw Encoders
The BTF and PRF wire-draw encoders are heavy-duty systems
usually used in rugged environmental conditions for distance
measurements up to 50 m. Wire-draw encoders are linear-
to-rotational, industrial motion conversion modules, coupled
with encoder feedback, to provide cost-effective linear position
measurement solutions that precisely fit your requirements.
These systems are housed in rugged industrial enclosures,
and contain a stainless steel or thermoplastic composite cable
wound on a precise, constant-diameter spool. The cable is
attached to the apparatus whose position is being measured,
and is extended and retracted as the apparatus moves. A
spring on the spool maintains cable tension. Position feedback
is provided by a standard incremental or absolute rotary shaft
encoder.

These position transducers allow very flexible measuring paths,

since the cable can be guided around obstacles using pulleys,
etc. The heavy-duty enclosure of the encoder and spool housing
provide excellent protection against contaminants, shock and
other abuses.

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 21
 Length Measuring Systems
Length Measuring Systems
Selection Guide
Selection Guide

Linear Absolute Encoders

Linear Absolute Encoders

TTK 70 L 230 Lincoder KH 53 Pomux KH 53 Pomux

Advanced

Resolution SSI: 1 µm SSI: 1 micron with Resolution 0.1 mm 0.1 mm

Fieldbus: 3.906 µm calibrated tape, Reproducibility ± 0.3 mm ± 1.00 mm
HIPERFACE: 10 micron with Accuracy Within ± 1000 + ME ± 2000 + ME
uncalibrated tape; a Measuring (Tu -25°C) TK (Tu -25°C) TK
HIPERFACE: 156.25 Element micron micron
micron
Positional ± 10 mm ± 20 mm
Reproducibility ±10 µm ± 10 micron Tolerance
Operating -20° to 60°C -30° to 70°C
Measuring 4m/ 10m/s 40 m max, 6 m/sec Temperature
Length/Speed
Measuring 1700 m max, 6.6 54 m or 548 m, 6.6
Interface SSI1), HIPERFACE SSI, HIPERFACE Length/Speed m/sec m/sec
Supply Voltage SSI: 10...32 V; SSI: 10...32 V; Interface SSI, Profibus DP SSI, Profibus DP
HIPERFACE: 7...12 V HIPERFACE: 7...12 V (07hex), Class 2 (07hex), Class 2
Measurement Stationary magnetic Stationary magnetic Supply Voltage 10...32 V 10...32 V
Scale Type tape with or without tape with or without
Measurement Stationary Omega Stationary Omega
adhesive adhesive
Scale Type profiles with profiles with
Protection Class IP 65 IP 65 embedded magnets embedded magnets
Electrical M12 8-pin M23 12-pin Protection Class IP 66 IP 66
Connections connector connector
Electrical SSI: M23 12-pin SSI: M23 12-pin
1)
DeviceNet, CanOpen and
Profibus outputs possible
Connections connectors; connectors;
with fieldbus adapter. Profibus: 3 PG Profibus: 3 PG
cable glands cable glands

A V AI L AB L E
ACC E S S ORI E S

• Cable assemblies
• Magnetic tape
• Couplings
• Programming tool
• Wire-draw mechanism
accessories

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Wire-Draw Encoders

Wire-Draw Encoders

BCG BKS BTF PKS PRF

(Absolute) (Absolute) (Absolute) (Incremental) (Incremental)
Resolution 0.03 – 0.09 mm 0.05 mm 0.025 mm 0.05 mm 0.025 mm
Reproducibility ± 0.05% ± 3 measuring step ± 1 measuring step ± 3 measuring step ± 1 measuring step
Measuring 1.25, 3 and 5 m 5 m max, 50 m max, 5 m max, 50 m max,
Length/Speed 3.5 m/sec 4 m/sec 3.5 m/sec 4 m/sec
Interface Analog 4-20 mA SSI SSI, Profibus, TTL TTL/RS 422 HTL
0…10 V DeviceNet, push-pull
CANopen
Supply Voltage 19…33 V 12...30 V 10...32 V 4.5...5.5 V 5 V or 10...32 V
Measurement Integrated encoder Integrated encoder Includes multiturn Integrated encoder Includes
Scale Type absolute encoder, incremental
model ATM 60 encoder, model
DRS 60
Protection Class IP 65 IP 52 IP 64 IP 52 IP 64
Electrical Shielded cable M23 12-pin SSI: M23 12-pin M23 12-pin M23 12-pin
Connections connector connector; Profibus, connector connector
DeviceNet and
CANopen: Separate
bus adapter with
connectors or PG
glands

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 23
 Length Measuring Systems
Selection Guide

Wire-Draw Mechanisms

Wire-Draw Mechanisms

MRA-F MRA-G

Total Measuring Length 50 m 3 m, 5 m

Measuring Length/Turn 2 m, 3 m, 5 m, 10 m, 20 m, 3 m, 5 m
30 m, 50 m
Accuracy/Repeatability 0.05% drum precision 0.05% drum precision
(% of full stroke)
Wire Diameter/Type 1.35 mm or 0.81 mm 1.4401/ PA coated
stranded stainless steel
Encoder Options Any 60 mm incremental Any incremental or absolute
or absolute servo mount with 6 mm shaft and servo
encoder mount flange
Housing Anodized aluminum Plastic, Noryl
Options Cable guides Cable guides

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Motor Feedback Systems
(SinCos ® series STAND ALONE)*

The Innovative HIPERFACE® Interface

Today’s high-performance digital servo drive systems require
absolute feedback for position control and high-resolution
incremental feedback for speed control. Both are available.

Our SinCos family of servo motor feedback devices combines

communication, speed regulation, and position information in
a single device.

Motor Feedback Systems

SKS/SKM36 SRS/SRM50 SRS/SRM64

STAND ALONE STAND ALONE STAND ALONE
128 sine/cosine 1,024 sine/cosine 1,024 sine/cosine
periods periods periods
• Solid shaft 6 mm • Solid shaft 6 or 10 mm • Hollow shaft
• Absolute position • Absolute position • Absolute position
4,096 steps per with a resolution with a resolution
revolution of 32,768 steps per of 32,768 steps per
• 4,096 revolutions revolution revolution
can be measured • 4,096 revolutions • 4,096 revolutions
(Multiturn) can be measured can be measured
• Programming of the (Multiturn) (Multiturn)
positional value • Programming of the • Programming of the
• Electronic type label positional value positional value
• Electronic type label • Electronic type label
# of sine/cosine periods 128 1,024 1,024
per revolution
Total number of steps Single SKS 4,096 Single SRS 32,768 Single SRS 32,768
Multi SKM 16.777.216 Multi SRM Multi SRM
= 4.096 x 4.096 134.217.728 = 134.217.728 =
32.768 x 4.096 32.768 x 4.096
Non linearity ± 120 angular seconds ± 52 angular seconds ± 45 angular seconds
Working speed 6,000 min -1
6,000 min -1
6,000 min-1
Working temp range -20 ... 100º C -20 ... 85º C 20 ... 115º C
Operating voltage range 7 ... 12 V 7 ... 12 V 7 ... 12 V
Type ID Single SKS = 32h Single SRS = 22h Single SRS = 22h
Multi SKM = 37h Multi SRM = 27h Multi SRM = 27h

*Only standalone versions of the motor feedback encoders are available. For other versions, please contact our team of application engineers.

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 25
 hipErfacE® adapters

motor feedback meets factory automation

The HIPERFACE® interface adapter modules allow users to connect single-
turn or multi-turn encoders that have the HIPERFACE® interface to systems
using other communication protocols, opening up a variety of application
options in all areas of automation technology.

Encoders with the HIPERFACE® interface are being designed as Motor

Feedback systems for drive technology. This creates an extremely compact
design.

In addition to encoders integrated into drives, stand-alone designs are also

available. In conjunction with a HIPERFACE® interface adapter module,
encoders can be used in a broad range of applications in automation
technology. For example where:

• High encoder resolutions are necessary — up to 262,000 counts per turn

can be generated easily in the interface adapter via interpolation of the
HIPERFACE® encoder signals. Encoder with
In HIPERFACE ®
• Space is very limited. Interface
• Environmental conditions such as dirt, temperature, shock and/or
vibration must be isolated from the electronics. HIPERFACE
®

Interface
• Customer-specific encoder flange and housing options are required, which Adapter
must be realized quickly and at a low-cost. Module

At the output of the interface adapter modules, SSI, Profibus, DeviceNet and
CANopen are available, using standard M12 connectors. These interfaces To
fulfill the high requirements of automation technology. Further, the diverse Out PLC
range of possible combinations of interface adapter modules and encoders
provides a high level of flexibility, coupled with low part replacement and
stocking costs.

Protection Class Use with these HIPERFACE® Motor Feedback encoders*

HIPERFACE® SSI Adapter IP 64 SRS, SCK, SKS, SEK, SRM, SCL, SKM, L230
HIPERFACE® Profibus Adapter IP 64 SRS, SCK, SKS, SEK, SRM, SCL, SKM, L230, XKS
HIPERFACE® DeviceNet Adapter IP 64 SRS, SCK, SKS, SEK, SRM, SCL, SKM, L230, XKS
HIPERFACE CANopen Adapter
®
IP 64 SRS, SCK, SKS, SEK, SRM, SCL, SKM, L230, XKS

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Encoder Accessories

Encoder Accessories

CAB L E S AND CAB L E COUP L ING S S HAFT OTH E R

CONN E CTOR S IN S E RT S / CO L L E T S ACC E S S ORI E S

We manufacture our own We sell helvetical curved We provide collets and shaft We also offer mechanical
cables with lead times of beam, bellows, and spring inserts of various sizes for adapters and hardware, SSI
6-8 days. We provide M12, disc couplings for all our our blind and through hollow parallel adapter modules,
M14, M23, MS6, MS7 and encoders. shaft encoders. measuring wheels, wire-
MS10 cable connectors with draw encoder accessories,
the number of pins you need, as well as programming
as well as mating cables and tools and software for our
cable/connector assemblies programmable encoders.
of various lengths.

©Sick, inc. | e n c o d e r s p r o d u c t i n f o r m at i o n 27
 Worldwide presence with Österreich Please find detailed addresses and
7028267.2009-12-21 ∙ Printed in the U.S. (2009-12)
Subject to change without notice subsidiaries in the following Polska additional representatives and agencies
countries: Republic of Korea in all major industrial nations at
www.sick.com
Republika Slovenija
Australia
România
Belgium/Luxembourg
Russia
Brasil
Schweiz
Ceská Republika
Singapore
China
Suomi
Danmark
Sverige
Deutschland
Taiwan
España
Türkiye
France For more information, please contact:
United Arab Emirates
Great Britain
USA/Canada/México
India
SICK, Inc.
Israel
6900 W. 110th St.
Italia Minneapolis, MN 55438 USA
Japan 800.325.7425
Nederland www.sickusa.com
Norge

Our Competence in the Business Segments

Process automation
Factory automation Logistics automation Analyzers and process instrumentation
With its intelligent sensors, safety Solutions from SICK automate material from SICK provide the best possible
systems, and auto identification flows and optimize sorting and acquisition of environmental and
solutions, SICK offers comprehensive warehousing processes. process data.
solutions for factory automation.

• Non-contact detecting, counting, • Automated identification with bar • Complete system solutions for
classifying, and positioning of any code reading devices for the purpose gas analysis, dust measurement,
type of object of sorting and target control in flow rate measurement, water
• Accident protection and personal industrial material flow analysis, liquid analysis, and level
safety using sensors, as well as • Detecting volume, position, and measurement as well as other tasks
safety software and services contours of objects and surroundings
with laser measurement systems

©SICK, Inc. | Minneapolis, MN | United States | www.sickusa.com