See Section 184.108.40.206 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
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
The following motor models use H20M21 encoders:
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:
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
HE-02 encoder part numbers are not as well known. The two part numbers that we have seen so far are
MRM21201H 8 poles
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