Kawasaki Motors and Serial Encoders

See Section 2.6.6.1 in the Training Manual for complete Kawasaki Motor and Serial Encoder details.

There are several models of Kawasaki serial encoders, and two are currently supported by the TI-5000JX.
The H20/M21 8,192 count/rev encoders are used with relatively large robot motors. Connection to these
encoders requires only 4 lines: 5 V power, ground, and a pair of RS485 data lines. The cables available are the TI-5011 (4 pin direct connection to the encoder) and the TI-5032 (17 pin circular MS type connector).

HE-02 8,192 count/rev encoders are used on somewhat smaller robot motors. They are supported by the TI-5023 (DB25 connector) and TI-5026 (17 pin circular MS type connector) cables. This encoder is the same as the 8192 count Sanyo Denki E03007758

TYPES SUPPORTED

The following list shows the Kawasaki serial encoders that are currently supported by the TI-5000EX/JX:

Type             Counts/Rev            Cables
H20/M21       8,192                     TI-5011 or TI-5032
HE-02             8,192                     TI-5023 or TI-5026

IDENTIFICATION

The following motor models use H20M21 encoders:

Model                                 Description
P20B10200LCL62                4 poles
P60B13150HCX23              8 poles
P80B22450RCX2A              8 poles
P80B22450RCX2R              8 poles

Sanyo Denki uses the P series part numbers for their motors too, and they show the bold character as the
encoder identifier. The last two, L and X, are not in the Sanyo Denki literature but appear in the part
numbers for Kawasaki motors using H20M21 encoders. There is some inconsistency in some of the
descriptions in the manuals, but this should provide some useful guidance. The assignments are as follows:

Letter             Encoder
S00                 Wire saving incremental, 2000 or 6000 PPR
S07                 Wire saving incremental, 2048 PPR
SA0                 Wire saving incremental, 2000 or 6000 PPR, rigid shaft
J                      Absolute encoder with motor flange of 60 mm or less
A00                 ABS-E encoder with motor flange of 76 mm or more
AA0                ABS-E encoder with motor flange of 76 mm or more, rigid shaft
M                    ABS-RIII, 8192 PPR super capacitor unavailable
N                    ABS-RII, 8192 PPR super capacitor unavailable
V                     ABS-RII super capacitor built-in
L                     H20M21
X                     H20M21

HE-02 encoder part numbers are not as well known. The two part numbers that we have seen so far are
listed below:

Part#                       Description
BS11SEN20SB
MRM21201H          8 poles