AksIM Off-axis Rotary Absolute Encoder
Data sheetMHAD01 02Issue 2, 24th April 2013AksIM off-axis rotary absolute encoderAksIM is a non-contact highperformance off-axis absoluterotary encoder designed forintegration into space-constrainedapplications. A hollow ring, trueabsolute functionality and highspeed operation make this encodersuitable for many applications.The AksIM encoder system consistsof an axially magnetised ring and areadhead.The AksIM encoder has a built-inadvanced self-monitoring function,continually checking several internalparameters. Error reporting, warningsand other status signals are availableon all digital interfaces and arevisualised with the on-board LED. True absolute systemThe AksIM encoder system issuitable for use in industrial andmedical applications. High speed operation Single track Custom magnetic sensor ASIC No hysteresis Resolution to 18 bits Low profile, non-contactA typical application is a robotic armThe encoders come with SSI, SPI,joint with a cable feed running throughPWM, asynchronous serial RS422 and the ring or a precision gearbox whereUSB communication interfaces andthe ring is attached onto the mainoffer a range of binary resolutions totransmission shaft.18 bits per revolution.Custom design service for OEMThe encoder operates from -40 C tointegration is also available. 85 C and is resistant to shock andvibrations.A Built-in self-monitoring Integrated status LED SSI, SPI, PWM, asynchronousserial RS422 or USBcommunication interface Corrosion resistant magnetic ringassociate company
Data sheetMHAD01 02Installation instructionsAxial position adjustment (air gap)The nominal gap between the sensor on the readhead and the rubber band on the ring is 0.2 0.1 mm. To achieve this, the base of thering should be in the same level as the bottom of the readhead. See "Detail A" section of the drawing on the previous page.Any nonmagnetic tool with 0.2 mm thickness can be used to check the correct air gap setting mechanically.The integrated LED can be used as a coarse indicator. When the correct air gap is achieved, the LED glows green and does not changecolour when the ring rotates.Radial position adjustmentThe four small holes (Ø2 mm) in the housing of the readhead should be used for correct radial positioning of the readhead to the ring.The two holes farther apart are for adjusting the readhead to the MRA7 ring (see Installation drawing on the next page).The two holes closer together are for adjusting the readhead to the MRA8 ring (see Installation drawing on the next page).WARNING!ESD protectionReadhead is ESD sensitive - handle with care. Do not touch wires or sensor area withoutproper ESD protection or outside of ESD controlled environment.Installation tolerances (readhead to ring)YAxial (Z) displacement (ride height)0.2 mm nominal 0.1 mmRadial (Y) displacement 0.3 mmOff center (X) displacement 0.5 mmNonparalell mounting 0.05 mmXZInstallation tolerances (ring to shaft)Ring/shaft fit on MRA7Guaranteed accuracyRing/shaft fit on MRA8Guaranteed accuracyH7/g6 0.07 H7/g6 0.06 H7/h7* 0.08 H7/h7* 0.07 H7/f7 0.09 H7/f7 0.08 * Note: Fit with possible zero gap is not recommended.Accuracy of the encoder systemBy minimising the eccentricity of the ringinstallation (using a gauge) and using adrive shaft with precision bearings, theerror can be reduced typically to 0.025 .A typical accuracy plot after goodinstallation is shown in the graph on theright.Error [ ]Precise centering of the ring is key toachieving good overall 20406080100120140160180 200 220Position [ ]240 260280300320340360
Installation drawing for MHA7 and MRA7Readhead mounting surfaceMHA7MRA70.1MHA7TACC01AM3 8; 2 A2 holes for positioningto ring MRA7 with MHA7TACC0125 f7M2.5 5; 6 SHAFTInstallation drawing for MHA8 and MRA8Readhead mounting surface0.1MRA8AMHA8MHA8TACC01M3 8; 2 2 holes for positioningto ring MRA8 with MHA8TACC01A55 f7M2.5 5; 6 SHAFTAdjustment procedureLoosen mounting screws (M3) for readhead. Pull readhead away from center of ring. Insert adjustment tool (MHA7ACC01 orMHA8ACC01) or two screws (M2 8 mm) into assisting holes. Push readhead towards ring so that assisting pins or screws touch outerside of ring. Tighten mounting screws. Remove adjustment tool or assisting screws. Check operation of encoder.Aassociate company5
Data sheetMHAD01 02Electrical connectionsPinWire ColourAsynchronousserial RS422PWMSSISPI slaveCaseOuter shieldEncoder/machinecase(Earth connection)Encoder/machinecase(Earth connection)Encoder/machinecase(Earth connection)Encoder/machinecase(Earth connection)1Inner shield0 V (GND)0 V (GND)0 V (GND)0 V (GND)2RedRX data in -Clock SCK (Clock in)3BlueRX data in --Clock -CS (Chip Select)4Grey-Status-Status5Brown5 V supply5 V supply5 V supply5 V supply6GreenTX data out -Data MISO (Data out)7YellowTX data out --Data --8Pink-PWM Out--9White0 V (GND)0 V (GND)0 V (GND)0 V (GND)For USB interface, the encoder is provided with a certified USB cable and type A connector.CustomerelectronicsEncoderInner shieldExtension cable5VOutputsignalsOuter shield0VWARNING!ESD protectionReadhead is ESD sensitive - handle with care. Do not touch wiresor sensor area without proper ESD protection or outside of ESDcontrolled environment.6
AksIM communication interfacesAsynchronous serial RS422Baud rate115.2 kbps, 128 kbps, 230.4 kbps, 256 kbps, 500 kbps, 1 MbpsData format8 bits, no parity, 1 stop bitUpdate rateOn demand or continuousResolutionSee table belowLatency250 µsBase frequency122.07 HzStep duration0.125 µsUpdate rate122.07 HzResolution16 bitsLatency250 µsMaximum clock frequency500 kHzUpdate rate4 kHzResolutionSee table belowLatency250 µs to 500 µsTimeout (monoflop time)20 µsPWMSSI*SPI slave*Maximum clock frequency3 MHz at 1.5 m cable lengthUpdate rate4 kHzResolution16 bits fixed (option S) or up to 18 bits (option A) - see table belowLatency250 µs to 500 µsStandardUSB 1.1Update rate4 kHzResolution17 bits fixed on MHA7; 18 bits fixed on MHA8LatencyDependent on the software configurationUSB* Note: Slave type interfaces might not be suitable for high-speed closed control loops because of the variable latency time.Available resolutionsResolutionRing MRA7Ring MRA8Binary15 bits per revolution16 bits per revolution17 bits per revolution16 bits per revolution17 bits per revolution18 bits per revolutionAassociate company7
Data sheetMHAD01 02Asynchronous serial communication over RS422Encoder identification, position data and temperature are available over the request-response type of communication over theasynchronous serial link. There are two unidirectional communication channels, forming a full-duplex bidirectional data link. Everychannel consists of a two wire differential twisted-pair connection conforming to the RS422 signalling standard.Electrical connectionVCCRODEYBZVCCCommandCONTROLLERRt* BZYGNDIE/AGNDODataLine signalsAReceiver, inputBReceiver, - inputYTransmitter, outputZTransmitter, - outputFDIAENCODERpera ngrcuH/FRt** The Command and Data lines are 5 V RS422 compatible differential pairs. The termination resistor on the Command line is integratedinside the encoder. The termination on the end of the Data line at the controller end is required if the total cable length is longer than5 m. The nominal impedance of the cable is 120 Ω.Communication parametersCharacter length8 bitsParityNoneStop bits1Repetition rate4 kHz maxPosition latencyFixed 250 µs between the position acquisition and first start bit sent outLink speed is selectable by the Output type variant in the part number:Output type variantValue8ABCDEF115.2 kbps128 kbps230.4 kbps256 kbps500 kbps1 Mbps
Command setCommand "v" (small character "v")Response - version info and serial number5 bytes ASCII identification string ("AksIM")1 byte ASCII space character8 bytes ASCII serial number1 byte binary firmware version1 byte binary communication interface version (3)1 byte binary ASIC revision1 byte binary code identification (7 or 8)1 byte binary ResolutionCommand "1" (ASCII one)Response - position and status, transmitted once1 byte header 0xEA3 bytes binary absolute position, big-endian, left aligned2 bytes encoder status – see below1 byte constant footer 0xEFThe next request should not be sent sooner than 250 µs after the end of the previous response from the readhead to allowrefreshing of the position data. If request is sent sooner, data will arrive at the end of the refresh cycle.Command "2" (ASCII two)Response - position and status, transmitted continuously1 byte constant header 0xEA3 bytes binary absolute position, big-endian, left aligned2 bytes encoder status – see below1 byte constant footer 0xEFCommand "0" (ASCII zero)Stop continuous transmissionCommand "t" (small character "t")Response - temperature of the encoder1 byte signed binary number - temperature of the sensor in C1 byte signed binary number - temperature of the processor in CAccuracy of the readings is 3 CThis function is available with firmware version 30 and later (see command "v" for firmware version).Structure of the data packetEncoder status (two bytes):b15 : b10Reserved, always zeroGeneral statusb9Error. If bit is set, position is not valid.b8Warning. If bit is set, encoder is near operation limits. Position is valid. Resolution and / or accuracy might belower than specified.Error and Warning bits can be set at the same time; in this case Error bit has priority.Those two bits are synchronized to the LED indicator on the housing of the encoder:Red Error, Orange Warning, Green Normal operation, No light no power supply.The warning or error status is more closely defined by the Detailed status bits.Detailed statusb7Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field ispresent.b6Warning - Signal amplitude low. The distance between the readhead and the ring is too high.b5Error - Signal lost. The readhead is out of alignment with the ring or the ring is damaged.b4Warning - Temperature. The readhead temperature is out of range.b3Error - Power supply error. The readhead power supply voltage is out of specified range.b2Error - System error. Malfunction detected inside the circuitry or inconsistent calibration data is detected. Toreset the System error bit try to cycle the power supply while the rise time is shorter than 20 ms.b1Not usedb0Error - Acceleration error. The position data changed too fast. A stray magnetic field is present or metal particlesare present between the readhead and the ring.Aassociate company9
Data sheetMHAD01 02PWM - Pulse width modulation outputThe PWM interface consists of two digital signals: the Status signal and the PWM Out signal. It is 3.3 V TTL compatible.Electrical connectionThe Status and PWM Out signals are 3.3 V TTL compatible. These signals have weak ESD protection. Handle with care.Status signalThe Status signal indicates the current status of the encoder. The Status signal is high for normal operation and valid positioninformation. The low state of the Status signal indicates an error state of the encoder which can be caused by: Operation outside the installation tolerances Invalid or corrupted magnetic pattern of the ring Sensor malfunction System error No power supplyWhen the Status signal is low, the PWM Out signal is low and no pulses are output.The encoder position is latched on the rising edge of the PWM Out signal. The Status signal should also be checked at the risingedge of the PWM Out signal. If the Status signal changes during the PWM period, it does not affect the currently transmitted positioninformation.PWM Out signalThe PWM Out is a pulse width modulated output with 16-bit resolution whose duty cycle is proportional to the measured position. Thechange of the pulse width by 0.125 µs corresponds to a change in position by one count (change in angle for 360 / 65536 0.00549 ).At 16 bit encoder resolution the base PWM frequency is 122.07 Hz.PWM Out signal timing diagramtonPWM OutsignaltPWM 1/fPWMPWminPosition 0Angle 0 0.125 µs8192 µsPWmaxPosition 65535Angle 359.99451 8191.875 µsCommunication parametersOutput type variant in the part number defines the PWM frequency and all other dependent parameters.Output typevariantParameterSignal periodPWM frequencyASymbolValuetPWM8192 μsfPWM122.07 HzMinimum pulse widthPWmin0.125 μsMaximum pulse widthPWmaxResolutionNotePosition 0 (Angle 0 )8191.875 μs Positions 65534 and 65535 * (Angle 359.98901 and 359.99451 )16 BitFixed; resolution in part number must be set as “16B“* Note that positions 65534 and 65535 result in the same pulse width PWmax.Position [counts] 10ton 65536tPWM-1Position [ ] (ton - 0.125 µs) 360 tPWM
SSI - Synchronous serial interfaceThe encoder position, in up to 18 bit natural binary code, and the encoder status are available through the SSI protocol. The positiondata is left aligned. After the position data there are two general status bits followed by the detailed status information.Electrical connectionRt*VCCDIYBZVCCCommandCONTROLLERLine signalsRt* BZYGNDIE/AGNDODataAReceiver, inputBReceiver, - inputYTransmitter, outputZTransmitter, - outputFDEAENCODERpera ngH/FrcuRO* The Command and Data lines are 5 V RS422 compatible differential pairs. The termination resistor on the Command line is integratedinside the encoder. The termination on the end of the Data line at the controller end is required if the total cable length is longer than5 m. The nominal impedance of the cable is 120 Ω.SSI timing diagram1tCL23ClockData4tMb1b2b3b28b29b30Start MSBb31LSBIdleThe controller interrogates the readhead for its position and status data by sending a pulse train to the Clock input. The Clock signalalways starts from high. The first falling edge 1 latches the last position data available and on the first rising edge 2 the mostsignificant bit (MSB) of the position is transmitted to the Data output. The Data output should then be latched on the following fallingedge. On subsequent rising edges of the Clock signal the next bits are transmitted.After the transmission of the last bit 3 the Data output goes to low. When the tM time expires, the Data output is undefinedClock signal must remain high for at least tM before the next reading can take place.4. TheWhile reading the data, the period tCL must always be less than tM. However, reading the encoder position can be terminated at any timeby setting the Clock signal to high for the duration of tM.To allow updating of the position data at least tB should pass between two subsequent readings. If the reading request arrives earlierthan tB after the previous reading, the encoder position will not be updated.tBThe power supply must be applied at least 10 ms before the clock sequence is being sent to the encoder.Aassociate company11
Data sheetMHAD01 02Communication parametersParameterSymbolMinClock periodtCL2 µsClock frequencyfCL50 kHzMonoflop timetMUpdate timetBTypMax20 µs500 kHz20 µs250 µsStart bit and idle line value are defined by the Output type variant.Output type variantLine state selectionAStart bit 0; idle line 0BStart bit 1; idle line 1Structure of the data packetBitb30 : b13Data lengthMeaningb12 : b21b10 : b9b8 : b1b018 bits2 bits2 bits8 bits1 bitEncoder positionReservedGeneral statusDetailed statusReservedEncoder positionb30 : b13Encoder position – Left aligned, MSB (b1) first, LSB (b18) last. If the encoder resolution is lower than 18 bits,the last few bits of the encoder position, which are not used, are set to zero.b12 : b11Reserved, always zeroGeneral statusb10Error bit. If set, the position is not valid.b9Warning bit. If set, the encoder operation is close to its limits. The position is still valid, but the resolution and/oraccuracy might be out of specification.The Error and Warning bits can be set at the same time, in this case the Error bit has priority.The colour of the LED on the readhead housing indicates the value of the General status bits:Red Error, Orange Warning, Green Normal operation, No light No power supply.The warning or error status is more closely defined by the Detailed status bits.Detailed status12b8Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field ispresent.b7Warning - Signal amplitude low. The distance between the readhead and the ring is too high.b6Error - Signal lost. The readhead is out of alignment with the ring or the ring is damaged.b5Warning - Temperature. The readhead temperature is out of range.b4Error - Power supply error. The readhead power supply voltage is out of specified range.b3Error - System error. Malfunction detected inside the circuitry or inconsistent calibration data is detected.To reset the System error bit try to cycle the power supply while the rise time is shorter than 20 ms.b2Not usedb1Error - Acceleration error. The position data changed too fast. A stray magnetic field is present or metalparticles are present between the readhead and the ring.b0Reserved, always zero.
SPI - Serial peripheral interface – slave modeThe SPI interface is designed for communication with nearby devices.Electrical connectionAll data signals are 3.3 V LVTTL. Inputs are 5 V tolerant.SignalDescriptionCSActive low. CS line is used for synchronisation between master and slave devices. During communication it mustbe held low. Idle is high. Rising edge on CS signal resets the SPI interface.SCKClocks out the data on rising edge. Max frequency 3 MHz at 1.5 m cable length.MISOData is output on rising edge on SCK after CS low. Data is valid on the falling edge of SCK signal.During CS 1 MISO line is in high-Z mode.StatusIndicates normal operation (only available with S option).Communication parametersOutput type variant in the part number defines the SPI interface type and all dependent parameters.Output typevariantDescriptionSSPI slave - simple modeASPI slave - advanced modeParameterClock frequencyParameterValueResolutionFixed - resolution in part number must be set as "16B"StatusError status available on a separate wireData length16 bit data packet - position onlyResolutionSelectable (see part numbering)StatusAll status bits are available through the SPIData length40 bit data packet - position, status, CRCSymbolMinfCLK1 HzTime after CS low to first CLK rising edgetS1 µsTime after last CLK falling edge to CS hightH1 µsCS high timetR8 µsRead repetition rateTypMaxNote3 MHzMax frequency with 1.5 m cableTime to complete SPI resetfREP4 kHzIf higher, the same position datamight be transmitted twiceSPI slave - simple mode (option S)Structure of the data packetData packet is 16 bits long. MSB first. Left aligned. Position only, no status bits. Only 16-bit resolution available. Repetition ofreading max 4000 times per second. If higher, it is possible to read the same position data twice.Status signalThe Status signal indicates the current status of the encoder. The Status signal is high for normal operation and valid positioninformation. The low state of the Status signal indicates an error state of the encoder which can be caused by: Operationoutside the installation tolerances, invalid or corrupt magnetic pattern of the ring, sensor malfunction, system error or no powersupply.When the Status signal is low, the data read through the SPI interface is invalid. The Status signal should be checked at thefirst rising edge of the SCK signal. If the Status signal changes during the data transmission, it does not affect the currentlytransmitted position information.SPI slave timing diagram (option ionHiZLSBAassociate company13
Data sheetMHAD01 02SPI slave - advanced mode (option A)Structure of the data packetData packet is 40 bits long. MSB first. Position data is left aligned.Repetition of reading max 4000 times per second. If higher, it is possible to read the same position data twice.BitData lengthMeaningb31 : b14b13 : b12b11 : b10b9 : b2b1 : b0c7 : c018 bits2 bits2 bits8 bits2 bits8 bitsEncoderpositionReservedalways 0GeneralstatusDetailedstatusReservedalways 1CRCEncoder positionb31 : b14Encoder position, left aligned, MSB first. If the encoder resolution is lower than 18 bits, the last few bitsof the encoder position, which are not used, are set to zero.General statusb11Error. If bit is set, position is not valid.b10Warning. If bit is set, encoder is near operation limits. Position is valid. Resolution and / or accuracymight be lower than specified.Error and Warning bits can be set at the same time; in this case Error bit has priority.Those two bits are synchronized to the LED indicator on the housing of the encoder:Red Error, Orange Warning, Green Normal operation, No light no power supply.The warning or error status is more closely defined by the Detailed status bits.Detailed statusb9Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic fieldis present.b8Warning - Signal amplitude low. The distance between the readhead and the ring is too high.b7Error - Signal lost. The readhead is out of alignment with the ring or the ring is damaged.b6Warning - Temperature. The readhead temperature is out of range.b5Error - Power supply error. The readhead power supply voltage is out of specified range.b4Error - System error. Malfunction detected inside the circuitry or inconsistent calibration data isdetected. To reset the System error bit try to cycle the power supply while the rise time is shorter than20 ms.b3Not usedb2Error - Acceleration error. The position data changed too fast. A stray magnetic field is present or metalparticles are present between the readhead and the ring.c7 : c0CRC check with polynomial 0x97 - see Application Note on the website: www.rls.si/AksIMCRCStatus signalThe Status signal is not available in Advanced mode.SPI slave timing diagram (option A)tStHtRCSSCKMISOb31MSB14b30b29b28position statusb27c4c3CRCc2c1c0LSBHiZ
USB - Universal serial busEncoder identification, position data and temperature are available over the request-response type of communication over the UniversalSerial Bus (USB). The encoder is recognised by a computer as a virtual COM port. This type of communication can be used for directconnection to a measuring station powered by an (industrial) PC. Drivers are available for Windows XP and Windows 7 operatingsystems. Both 32-bit and 64-bit versions are supported. The encoder may not be correctly recognised if plugged into a USB 3.0 port.Please use USB 2.0 port or USB hub. The encoder can be accessed from any software that supports connection to a virtual COM port(for example C , Delphi, Labview, etc.).Electrical connectionUSB cable with A type USB connector is provided. Cable length is 1.8 meter. It can be extended to 5 meters with certified USBextension cords capable of carrying higher supply currents (200 mA minimum).USB driversUSB drivers for the virtual COM port are available on the RLS website: www.rls.si/AksIMCommunication parametersSettings of baud rate, character length and parity bits do not affect the communication. Any value can be used.Output type variant does not affect the USB interface. Use default value "B".Command setCommand "v" (small character "v")Response - version info and serial number5 bytes ASCII identification string ("AksIM")1 byte ASCII space character8 bytes ASCII serial number1 byte binary firmware version1 byte binary communication interface version (3)1 byte binary ASIC revision1 byte binary code identification (7 or 8)1 byte binary ResolutionCommand "1" (ASCII one)Response - position and status, transmitted once1 byte header 0xEA3 bytes binary absolute position, big-endian, left aligned2 bytes encoder status – see below1 byte constant footer 0xEFThe next request should not be sent sooner than 250 µs after the end of the previous response from the readhead to allowrefreshing of the position data. If request is sent sooner, data will arrive at the end of the refresh cycle.Command "2" (ASCII two)Response - position and status, transmitted continuously1 byte constant header 0xEA3 bytes binary absolute position, big-endian, left aligned2 bytes encoder status – see below1 byte constant footer 0xEFCommand "0" (ASCII zero)Stop continuous transmissionCommand "t" (small character "t")Response - temperature of the encoder1 byte signed binary number - temperature of the sensor in C1 byte signed binary number - temperature of the processor in CAccuracy of the readings is 3 CThis function is available with firmware revision 30 and later.Aassociate company15
Data sheetMHAD01 02Structure of the data packetEncoder status (two bytes):b15 : b10Reserved; always zeroGeneral statusb9Error. If bit is set, position is not valid.b8Warning. If bit is set, encoder is near operation limits. Position is valid. Resolution and/or accuracy might belower than specified.Error and Warning bits can be set at the same time; in this case Error bit has priority.Those two bits are synchronized to the LED indicator on the housing of the encoder:Red Error, Orange Warning, Green Normal operation, No light no power supply.The warning or error status is more closely defined by the Detailed status bits.Detailed status16b7Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field ispresent.b6Warning - Signal amplitude low. The distance between the readhead and the ring is too high.b5Error - Signal lost. The readhead is out of alignment with the ring or the ring is damaged.b4Warning - Temperature. The readhead temperature is out of range.b3Error - Power supply error. The readhead power supply voltage is out of specified range.b2Error - System error. Malfunction detected inside the circuitry or inconsistent calibration data is detected. Toreset the System error bit try to cycle the power supply while the rise time is shorter than 20 ms.b1Not usedb0Error - Acceleration error. The position data changed too fast. A stray magnetic field is present or metal particlesare present between the readhead and the ring.
AksIM readhead part numberingMHA7 SFA16BT10F00SeriesMHA - Magnetic head AksIMSpecial requirements00 - StandardMRA ring compatibility7 - For use with MRA7 ring8 - For use with MRA8 ringConnector optionF - Flying leads (no connector)U - USB type A (only available withUS output type)Output typeSF - Asynchronous serial, RS422PW - Pulse width modulated (PWM)SC - Binary synchro-serial (SSI), RS422SP - SPI slaveUS - USB 1.1Cable length10 - 1.0 m18 - standard with US output typeOutput type variantSee table next to the description of the chosen output typefor detailed informationFor output type SF: Link speed in kbps:ABCDEF115.2128230.42565001000HousingT - T-shape (standard)ResolutionFor output types and variants PWA and SPS:16B - 16 bits per revolutionFor output type PW: A - 122.07 Hz base frequency (16 bit resolution only)For output type SC:A - Start bit and idle data line 0B - Start bit and idle data line 1For output type SP:A - SPI slave advanced (40-bit word)S - SPI slave simple (16-bit word)For output type US:B - StandardFor output types and variants SFx, SCx and SPA:15B - 15 bits per revolution*16B - 16 bits per revolution17B - 17 bits per revolution18B - 18 bits per revolution*** For MHA7 readhead only** For MHA8 readhead onlyAksIM ring part numberingMRA7D049AA025B00SeriesMRA - Magnetic ring AksIMSpecial requirements00 - StandardMRA ring type7 - For use with MHA7 readhead8 - For use with MHA8 readheadZero positionB - Marked by additional hole in metal hubAccuracyD - 0.1 Outer diameter049 - 49 mm080 - 80 mmInner diameter025 - 25 mm055 - 55 mmFor MRA7For MRA8For MRA7For MRA8Cross sectionA - StandardMaterialA - Stainless steel with glued NBR bonded ferriteCurrently available ring sMHA7TACC01MHA8TACC01Alignment tool for MHA7 readhead / MRA7 ring radial positioningAlignment tool for MHA8 readhead / MRA8 ring radial positioningAassociate company17
RLS merilna tehnika d.o.o.Poslovna cona Žeje pri KomendiPod vrbami 2SI-1218 KomendaSloveniaT 386 1 5272100F 386 1 5272129E mail@rls.siwww.rls.siDocument issuesIssueDate17. 1. 2013224. 4. 2013Page-Corrections madeNew documentPower supply range, voltage drop on cable, IP protection, installation tolerances, accuracy, SPI-S, SPI-A, USB,part numberingis our worldwide sales support partner for Magnetic Encoders.AustraliaT 61 3 9521 0922E australia@renishaw.comGermanyT 49 7127 9810E germany@renishaw.comThe NetherlandsT 31 76 543 11 00E benelux@renishaw.comSwedenT 46 8 584 90 880E sweden@renishaw.comAustriaT 43 2236 379790E austria@renishaw.comHong KongT 852 2753 0638E hongkong@renishaw.comPolandT 48 22 577 11 80E poland@renishaw.comSwitzerlandT 41 55 415 50 60E switzerland@renishaw.comBrazilT 55 11 4195 2866E brazil@renishaw.comHungaryT 36 23 502 183E hungary@renishaw.comRussiaT 7 495 231 1677E russia@renishaw.comTaiwanT 886 4 2473 3177E taiwan@renishaw.comCanadaT 1 905 828 0104E canada@renishaw.comIndiaT 91 20 6674 6751E india@renishaw.comSingaporeT 65 6897 5466E singapore@renishaw.comUKT 44 1453 524524E uk@renishaw.comThe People’s Republic of ChinaT 86 10 8448 5306E beijing@renishaw.comIsraelT 972 4 953 6595E israel@renishaw.comSloveniaT 386 1 52 72 100E mail@rls.siUSAT 1 847 286 9953E usa@renishaw.comCzech RepublicT 420 5 4821 6553E czech@renishaw.comItalyT 39 011 966 10 52E italy@renishaw.comSouth KoreaT 82 2 2108 2830E southkorea@renishaw.comFranceT 33 1 64 61 84 84E france@renishaw.comJapanT 81 3 5366 5316E japan@renishaw.comSpainT 34 93 663 34 20E spain@renishaw.comFor all other countriesPlease contact RLS’ headofficeT 386 1 52 72 100E mail@rls.siRLS d.o.o. has made considerable effort to ensure the content of this document is correct at the date of publication but makes no warranties orrepresentations regarding the content. RLS d.o.o. excludes lia
AksIM off-axis rotary absolute encoder. AksIM is a non-contact high performance off-axis absolute rotary encoder designed for integration into space-constrained applications. A hollow ring, true absolute functionality and high speed operation make this encoder suitable for many applicat
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E. Kreyszig, “Advanced Engineering Mathematics”, 8th edition, John Wiley and Sons (1999). 3. M. R. Spiegel, “Advanced Mathematics for Engineers and Scientists”, Schaum Outline Series, McGraw Hill, (1971). 4. Chandrika Prasad, Reena Garg, "Advanced Engineering Mathematics", Khanna Publishing house. RCH-054: Statistical Design of Experiments (3:1:0) UNIT 1 Introduction: Strategy of .
